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Dynamic performance of hybrid robot controllers near singularities

1998-10-11Conference object Restricted access
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dc.contributor.authorAzenha, Abílio
dc.contributor.authorTenreiro Machado, J. A.
dc.date.accessioned2019-04-16T11:11:03Z
dc.date.embargo2108
dc.date.issued1998-10-11
dc.description.abstractThis 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.pt_PT
dc.description.versioninfo:eu-repo/semantics/publishedVersionpt_PT
dc.identifier.doi10.1109/ICSMC.1998.726610pt_PT
dc.identifier.urihttp://hdl.handle.net/10400.22/13586
dc.language.isoengpt_PT
dc.publisherInstitute of Electrical and Electronics Engineerspt_PT
dc.relation.publisherversionhttps://ieeexplore.ieee.org/document/726610pt_PT
dc.subjectManipulator dynamicspt_PT
dc.subjectPoles and zerospt_PT
dc.subjectVariable structure systemspt_PT
dc.subjectPosition controlpt_PT
dc.subjectForce controlpt_PT
dc.subjectManipulator kinematicspt_PT
dc.subjectRobust controlpt_PT
dc.subjectFrequency responsept_PT
dc.titleDynamic performance of hybrid robot controllers near singularitiespt_PT
dc.typeconference object
dspace.entity.typePublication
oaire.citation.conferencePlaceSan Diego, Californiapt_PT
oaire.citation.endPage8pt_PT
oaire.citation.startPage1pt_PT
oaire.citation.titleIEEE International Conference on Systems Man and Cyberneticspt_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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