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Variable structure control of manipulators with compliant joints
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Autores
Orientador(es)
Resumo(s)
This article studies the variable structure control of robot manipulators with flexible joints. A second order preference model and a smooth control law eliminate the reaching phase problems and the chattering usually present in the sliding mode. The results show a remarkable improvement of the stability over conventional variable structure controllers, while the algorithm maintains a low computational load that makes it well suited for microcomputer implementation.
Descrição
Palavras-chave
Control system synthesis Digital control Manipulators Microcomputer applications Stability Variable structure systems
Contexto Educativo
Citação
Editora
Institute of Electrical and Electronics Engineers