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Variable structure control of manipulators with compliant joints

1993-06-01Conference object Restricted access
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dc.contributor.authorTenreiro Machado, J. A.
dc.date.accessioned2019-04-08T14:45:39Z
dc.date.embargo2103
dc.date.issued1993-06-01
dc.description.abstractThis 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.pt_PT
dc.description.versioninfo:eu-repo/semantics/publishedVersionpt_PT
dc.identifier.doi10.1109/ISIE.1993.268745pt_PT
dc.identifier.urihttp://hdl.handle.net/10400.22/13467
dc.language.isoengpt_PT
dc.publisherInstitute of Electrical and Electronics Engineerspt_PT
dc.relation.publisherversionhttps://ieeexplore.ieee.org/document/268745pt_PT
dc.subjectControl system synthesispt_PT
dc.subjectDigital controlpt_PT
dc.subjectManipulatorspt_PT
dc.subjectMicrocomputer applicationspt_PT
dc.subjectStabilitypt_PT
dc.subjectVariable structure systemspt_PT
dc.titleVariable structure control of manipulators with compliant jointspt_PT
dc.typeconference object
dspace.entity.typePublication
oaire.citation.conferencePlaceBudapest, Hungarypt_PT
oaire.citation.endPage8pt_PT
oaire.citation.startPage1pt_PT
oaire.citation.titleIEEE International Symposium on Industrial Electronicspt_PT
person.familyNameTenreiro Machado
person.givenNameJ. A.
person.identifier.ciencia-id7A18-4935-5B29
person.identifier.orcid0000-0003-4274-4879
person.identifier.ridM-2173-2013
person.identifier.scopus-author-id55989030100
rcaap.rightsclosedAccesspt_PT
rcaap.typeconferenceObjectpt_PT
relation.isAuthorOfPublication82cd5c17-07b6-492b-b3e3-ecebdad1254f
relation.isAuthorOfPublication.latestForDiscovery82cd5c17-07b6-492b-b3e3-ecebdad1254f

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