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Dynamic performance of variable structure hybrid control of manipulators
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Orientador(es)
Resumo(s)
In this paper it is studied the implementation of a variable structure algorithm in the position/force hybrid control of robotic manipulators. The time and frequency responses of the system are calculated and its properties are studied. Moreover, the effect of the controller sampling frequency and the system stability are analysed through a linearization procedure.
Descrição
Palavras-chave
Manufacturing systems Intelligent control Variable structure systems Force control