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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Yim, W. Singh, S.N. |
| Copyright Year | 1994 |
| Description | Author affiliation: Dept. of Mech. Eng., Nevada Univ., Las Vegas, NV, USA (Yim, W.) |
| Abstract | We treat the question of position and force control of three-axis elastic robotic systems on a constraint surface in the presence of robot parameter and environmental constraint geometry uncertainties. A sliding mode control law is derived for the position and force trajectory control of manipulator. Instability of the zero dynamics is avoided by controlling a point which lies in the neighborhood of the actual end point position. The maneuver of the arm using the sliding mode controller causes elastic mode excitation. For point-to-point control on the constraint surface, a stabilizer is designed for the final capture of the terminal state and vibration suppression. |
| Starting Page | 2113 |
| Ending Page | 2118 |
| File Size | 478113 |
| Page Count | 6 |
| File Format | |
| ISBN | 0818653302 |
| DOI | 10.1109/ROBOT.1994.350971 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 1994-05-08 |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Force control Motion control Sliding mode control Robots Surface treatment Computational geometry Uncertainty Manipulator dynamics Position control Vibration control |
| Content Type | Text |
| Resource Type | Article |
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