Name
Abstract | ||
|---|---|---|
This paper studies the performance of a variable structure algorithm in the position/force hybrid control 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 analysed in terms of frequency and time responses |
Year | DOI | Venue |
|---|---|---|
1998 | 10.1109/ICSMC.1998.726610 | SMC |
Keywords | Field | DocType |
force control,frequency response,manipulator dynamics,manipulator kinematics,poles and zeros,position control,robust control,variable structure systems,vsc,vss,dynamic performance,hybrid robot controllers,kinematic position loop,position/force hybrid control,pseudo-inverses,robotic manipulators,robustness,singular points,singularities,system dynamics,time response,variable structure algorithm,frequency,singular point,robot control,robot kinematics | Frequency response,Kinematics,Pole–zero plot,Control theory,Computer science,Robustness (computer science),System dynamics,Gravitational singularity,Robust control,Robot | Conference |
Volume | ISSN | ISBN |
4 | 1062-922X | 0-7803-4778-1 |
Citations | PageRank | References |
0 | 0.34 | 5 |
Authors | ||
2 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Azenha, A. | 1 | 3 | 0.71 |
| José António Tenreiro Machado | 2 | 102 | 16.42 |