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Dynamic performance of hybrid robot controllers near singularities
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Orientador(es)
Resumo(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.
Descrição
Palavras-chave
Manipulator dynamics Poles and zeros Variable structure systems Position control Force control Manipulator kinematics Robust control Frequency response
Contexto Educativo
Citação
Editora
Institute of Electrical and Electronics Engineers