Azenha, AbílioTenreiro Machado, J. A.2019-04-121997-09-15http://hdl.handle.net/10400.22/13549In this paper it is studied the implementation of a variable structure algorithm in position/force hybrid control of robotic manipulators. The robustness and performances of the system are analysed both in terms of time and frequency responses.engPosition controlForce controlStabilityControl system analysisVariable structure systemsIndustrial manipulatorsconference object10.1109/INES.1997.632439