Azenha, AbílioTenreiro Machado, J. A.2019-04-121997-10-12http://hdl.handle.net/10400.22/13551In this paper it is studied the implementation of a variable structure algorithm in the position/force hybrid control of robotic manipulators. The robustness and performances of the system are analysed in terms of time responses and limit cycle occurence. It is also considered the stability limit relative to different system operating points and the adoption of multirate sampling frequencies.engManipulatorsVariable structure systemsPosition controlForce controlRobust controlconference object10.1109/ICSMC.1997.637377