Azenha, AbílioTenreiro Machado, J. A.2019-04-161998-10-11http://hdl.handle.net/10400.22/13586This 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.engManipulator dynamicsPoles and zerosVariable structure systemsPosition controlForce controlManipulator kinematicsRobust controlFrequency responseconference object10.1109/ICSMC.1998.726610