Dynamic analysis in variable structure position/force hybrid control of manipulators

Azenha, Abílio; Tenreiro Machado, J. A.

http://hdl.handle.net/10400.22/13551

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Authors

Azenha, Abílio

Tenreiro Machado, J. A.

Abstract(s)

In this paper it is studied the implementation of a variable structure algorithm in the position/force hybrid control of robotic manipulators. The robustness and performances of the system are analysed in terms of time responses and limit cycle occurence. It is also considered the stability limit relative to different system operating points and the adoption of multirate sampling frequencies.