Unified formulation of variable structure control schemes for robot manipulators

1994 ◽  
Vol 39 (2) ◽  
pp. 371-376 ◽  
Author(s):  
Bin Yao ◽  
S.P. Chan ◽  
Danwei Wang
Keyword(s):  
Robot Manipulators ◽  
Variable Structure Control ◽  
Variable Structure ◽  
Structure Control ◽  
Control Schemes

Variable Structure Hybrid Control of Manipulators in Unconstrained and Constrained Motion

1996 ◽  
Vol 118 (2) ◽  
pp. 327-332 ◽  
Author(s):  
Robert R. Y. Zhen ◽  
Andrew A. Goldenberg
Keyword(s):  
Control Method ◽  
Hybrid Control ◽  
Sliding Mode ◽  
Robot Manipulators ◽  
Hierarchical Control ◽  
Variable Structure Control ◽  
Variable Structure ◽  
Control Algorithms ◽  
Constrained Motion ◽  
Structure Control

This paper addresses the problem of robust hybrid position and force control of robot manipulators. Variable structure control with sliding mode is used to implement the hybrid control strategy. Two variable structure control algorithms are developed in task space. One of the algorithms is based on hierarchical control method, and the other is developed for control of robot manipulators used to carried out both unconstrained and constrained tasks.

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