Variable Structure Control of Manipulators with Joints having Flexibility and Backlash

Detalhes bibliográficos
Autor(a) principal: Machado, J. A. Tenreiro
Data de Publicação: 1997
Tipo de documento: Livro
Idioma: eng
Título da fonte: Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
Texto Completo: http://hdl.handle.net/10400.22/8812
Resumo: This article studies the variable structure control of robot manipulators with joints having flexibility and backlash. A second order reference 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.
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spelling Variable Structure Control of Manipulators with Joints having Flexibility and BacklashThis article studies the variable structure control of robot manipulators with joints having flexibility and backlash. A second order reference 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.AAC-American Academy of Mechanics and ABCM-Associação Brasileira de Ciências MecânicasRepositório Científico do Instituto Politécnico do PortoMachado, J. A. Tenreiro2016-12-14T12:39:21Z19971997-01-01T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/bookapplication/pdfhttp://hdl.handle.net/10400.22/8812eng85-900351-1-5info:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2023-03-13T12:48:55ZPortal AgregadorONG
dc.title.none.fl_str_mv Variable Structure Control of Manipulators with Joints having Flexibility and Backlash
title Variable Structure Control of Manipulators with Joints having Flexibility and Backlash
spellingShingle Variable Structure Control of Manipulators with Joints having Flexibility and Backlash
Machado, J. A. Tenreiro
title_short Variable Structure Control of Manipulators with Joints having Flexibility and Backlash
title_full Variable Structure Control of Manipulators with Joints having Flexibility and Backlash
title_fullStr Variable Structure Control of Manipulators with Joints having Flexibility and Backlash
title_full_unstemmed Variable Structure Control of Manipulators with Joints having Flexibility and Backlash
title_sort Variable Structure Control of Manipulators with Joints having Flexibility and Backlash
author Machado, J. A. Tenreiro
author_facet Machado, J. A. Tenreiro
author_role author
dc.contributor.none.fl_str_mv Repositório Científico do Instituto Politécnico do Porto
dc.contributor.author.fl_str_mv Machado, J. A. Tenreiro
description This article studies the variable structure control of robot manipulators with joints having flexibility and backlash. A second order reference 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.
publishDate 1997
dc.date.none.fl_str_mv 1997
1997-01-01T00:00:00Z
2016-12-14T12:39:21Z
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.driver.fl_str_mv info:eu-repo/semantics/book
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status_str publishedVersion
dc.identifier.uri.fl_str_mv http://hdl.handle.net/10400.22/8812
url http://hdl.handle.net/10400.22/8812
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv 85-900351-1-5
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eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv AAC-American Academy of Mechanics and ABCM-Associação Brasileira de Ciências Mecânicas
publisher.none.fl_str_mv AAC-American Academy of Mechanics and ABCM-Associação Brasileira de Ciências Mecânicas
dc.source.none.fl_str_mv reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
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instacron_str RCAAP
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reponame_str Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
collection Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
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