Azenha, AbílioTenreiro Machado, J. A.2019-04-122019-04-121997-12-08http://hdl.handle.net/10400.22/13553In this paper it is studied the implementation of a variable structure algorithm in the position/force hybrid control of robotic manipulators. The time and frequency responses of the system are calculated and its properties are studied. Moreover, the effect of the controller sampling frequency and the system stability are analysed through a linearization procedure.engManufacturing systemsIntelligent controlVariable structure systemsForce controlconference object