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Variable structure control of robots with nonlinear friction and backlash at the joints

dc.contributor.authorAzenha, Abílio
dc.contributor.authorTenreiro Machado, J. A.
dc.date.accessioned2019-04-09T13:47:09Z
dc.date.embargo2109
dc.date.issued1996-04-22
dc.description.abstractThis paper investigates the control of robots with nonlinear friction and dynamic backlash in the joints. The study is based on the describing function (DF) of nonlinear systems. The controllers studied are the first order model and the second order model variable structure controllers (FOM-VSC and SOM-VSC). We start by studying nonlinear plants consisting of a mass subjected to Coulomb plus viscous friction or two masses subjected to dynamic backlash. The worst case for the limit cycle generation is found to be the closed-loop system having two masses with backlash. On the other hand, the closed-loop system of a mass with nonlinear friction is found to be amenable to control without limit cycles. By decoupling the joints of the robot we find similar results within a good accuracy range.pt_PT
dc.description.versioninfo:eu-repo/semantics/publishedVersionpt_PT
dc.identifier.doi10.1109/ROBOT.1996.503804pt_PT
dc.identifier.urihttp://hdl.handle.net/10400.22/13497
dc.language.isoengpt_PT
dc.relation.publisherversionhttps://ieeexplore.ieee.org/document/503804pt_PT
dc.subjectVariable structure controlpt_PT
dc.subjectDescribing functionspt_PT
dc.subjectBacklashpt_PT
dc.subjectFrictionpt_PT
dc.subjectRoboticspt_PT
dc.titleVariable structure control of robots with nonlinear friction and backlash at the jointspt_PT
dc.typeconference object
dspace.entity.typePublication
oaire.citation.conferencePlaceMinneapolis, Minnesotapt_PT
oaire.citation.endPage8pt_PT
oaire.citation.startPage1pt_PT
oaire.citation.titleRobotics and automationpt_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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