Sliding mode force, motion control, and stabilization of elastic manipulator in the presence of uncertainties

DOI10.1002/ROB.4620120504MaRDI QIDQ4836610zbMATH OpenOpenAlexFDO

Authors Woosoon Yim, Sahjendra N. Singh

Publication date 25 July 1995

Published in Journal of Robotic Systems (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1002/rob.4620120504

zbMATH Keywords

point-to-point controlconstraint surfacelinear stabilizationvariable structure control theorythree-axis robot

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Control of mechanical systems (70Q05) Automated systems (robots, etc.) in control theory (93C85) Control, switches and devices (``smart materials) in solid mechanics (74M05)

Recommendations

• Sliding Mode Control and Elastic Mode Stabilization of a Robotic Arm With Flexible Links
• Sliding-mode motion/force control of constrained robots
• Inverse Force and Motion Control of Constrained Elastic Robots
• Variable Structure Hybrid Control of Manipulators in Unconstrained and Constrained Motion
• Variable structure trajectory control of an elastic robotic arm

Cites work

• Control of a Flexible Robot Arm: Experimental and Theoretical Results
• Feedback linearization of differential-algebraic systems and force and position control of manipulators
• Feedback stabilization and tracking of constrained robots
• Feedback stabilization of control systems described by a class of nonlinear differential-algebraic equations
• Inversion techniques for trajectory control of flexible robot arms
• Output tracking in multivariable nonlinear systems
• Sliding Mode Control and Elastic Mode Stabilization of a Robotic Arm With Flexible Links
• Tracking control of non-linear systems using sliding surfaces, with application to robot manipulators†
• Trajectory control of a non-linear one-link flexible arm
• Variable structure trajectory control of an elastic robotic arm

Cited in

(3)

• Sliding-mode motion/force control of constrained robots
• Sliding Mode Control and Elastic Mode Stabilization of a Robotic Arm With Flexible Links
• Variable structure force control of flexible manipulator based on distributed parameter model

This page was built for publication: Sliding mode force, motion control, and stabilization of elastic manipulator in the presence of uncertainties

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q4836610)