Tenreiro Machado, J. A.2019-04-081993-06-01http://hdl.handle.net/10400.22/13467This article studies the variable structure control of robot manipulators with flexible joints. A second order preference model and a smooth control law eliminate the reaching phase problems and the chattering usually present in the sliding mode. The results show a remarkable improvement of the stability over conventional variable structure controllers, while the algorithm maintains a low computational load that makes it well suited for microcomputer implementation.engControl system synthesisDigital controlManipulatorsMicrocomputer applicationsStabilityVariable structure systemsconference object10.1109/ISIE.1993.268745