Variable structure control of constrained dynamic systems
Resource
Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on
Journal
1990 IEEE International Conference on Robotics and Automation
Pages
-
Date Issued
1990-05
Date
1990-05
Author(s)
Lin, Marlon
DOI
N/A
Abstract
A modified computed torque controller has been developed by N.H. McClamroch and D. Wang (1987). If the mathematical model of the robot is exact, the modified computed torque can simultaneously control the robot motion and contact force in an accurate way. However, there may exist uncertainties in the model, such as flexibility of joints and links, joint friction, and an inexact surface model. It is shown that the modified computed torque controller may result in an unstable closed-loop system for the system with uncertainties. This difficulty can be overcome by using a variable structure controller. The controller is robust in that it is insensitive to variations in the plant parameters and to external disturbances of contact force.>
Type
journal article
File(s)![Thumbnail Image]()
Loading...
Name
00126191.pdf
Size
419.37 KB
Format
Adobe PDF
Checksum
(MD5):d490633f2c456d51f45b38cf4a7625af