Dynamic performance of hybrid robot controllers near singularities

Azenha, Abílio; Tenreiro Machado, J. A.

http://hdl.handle.net/10400.22/13586

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Authors

Azenha, Abílio

Tenreiro Machado, J. A.

Abstract(s)

This paper studies the performance of a variable structure algorithm in the position/force hybrid of robotic manipulators. It is shown that a reformulation of the kinematic position loop using pseudo-inverses improves the system response namely in the neighbourhood of singular points. The robustness and the system dynamics are analyzed in terms of frequency and time responses.

Keywords

Manipulator dynamics Poles and zeros Variable structure systems Position control Force control Manipulator kinematics Robust control Frequency response