Publication
Variable structure control of manipulators with joints having flexibility and backlash
| dc.contributor.author | Machado, J. A. Tenreiro | |
| dc.date.accessioned | 2016-12-20T11:06:56Z | |
| dc.date.available | 2016-12-20T11:06:56Z | |
| dc.date.issued | 1996 | |
| dc.description.abstract | This article studies the variable structure control of robot manipulators with joints having flexibility and bcklash. A second order reference model and smoth 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.version | N/A | pt_PT |
| dc.identifier.uri | http://hdl.handle.net/10400.22/8880 | |
| dc.language.iso | eng | pt_PT |
| dc.publisher | Gordon and Breach Science Publishers S.A. | pt_PT |
| dc.subject | Robots | pt_PT |
| dc.subject | Manipulators | pt_PT |
| dc.subject | Control | pt_PT |
| dc.subject | Variable structure systems | pt_PT |
| dc.subject | Flexibility | pt_PT |
| dc.subject | Backlash | pt_PT |
| dc.title | Variable structure control of manipulators with joints having flexibility and backlash | pt_PT |
| dc.type | journal article | |
| dspace.entity.type | Publication | |
| oaire.citation.endPage | 101 | pt_PT |
| oaire.citation.startPage | 93 | pt_PT |
| oaire.citation.title | SAMS | pt_PT |
| oaire.citation.volume | 23 | pt_PT |
| person.familyName | Tenreiro Machado | |
| person.givenName | J. A. | |
| person.identifier.ciencia-id | 7A18-4935-5B29 | |
| person.identifier.orcid | 0000-0003-4274-4879 | |
| person.identifier.rid | M-2173-2013 | |
| person.identifier.scopus-author-id | 55989030100 | |
| rcaap.rights | openAccess | pt_PT |
| rcaap.type | article | pt_PT |
| relation.isAuthorOfPublication | 82cd5c17-07b6-492b-b3e3-ecebdad1254f | |
| relation.isAuthorOfPublication.latestForDiscovery | 82cd5c17-07b6-492b-b3e3-ecebdad1254f |