Variable Structure Hybrid Control of Manipulators in Unconstrained and Constrained Motion

[+] Author and Article Information
Robert R. Y. Zhen, Andrew A. Goldenberg

Robotics and Automation Laboratory, Department of Mechanical Engineering, University of Toronto, Canada M5S 3G8

J. Dyn. Sys., Meas., Control 118(2), 327-332 (Jun 01, 1996) (6 pages) doi:10.1115/1.2802322 History: Received January 25, 1994; Online December 03, 2007


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.

Copyright © 1996 by The American Society of Mechanical Engineers
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