Variable Structure Hybrid Control of Manipulators in Unconstrained and Constrained Motion

DOI10.1115/1.2802322MaRDI QIDQ5285337zbMATHOpenAlexFDO

Authors Robert R. Y. Zhen, Andrew A. Goldenberg

Publication date 4 February 1997

Published in Journal of Dynamic Systems, Measurement, and Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1115/1.2802322

zbMATH Keywords

variable structure controlsliding moderobot manipulatorsrobust hybrid position and force control

Mathematics Subject Classification ID

Variable structure systems (93B12) Automated systems (robots, etc.) in control theory (93C85)

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• Stability of hybrid position and force control for robotic manipulator with kinematics and dynamics uncertainties.
• Hybrid control: A constrained motion perspective
• scientific article; zbMATH DE number 982540 (Why is no real title available?)
• Hybrid Constraint Space Dynamics and Control for Robot Manipulators
• Variable structure force control of flexible manipulator based on distributed parameter model
• Joint‐space orthogonalization and passivity for physical interpretations of dextrous robot motions under geometric constraints
• Multi-input second-order sliding-mode hybrid control of constrained manipulators
• Global asymptotic stability of hybrid position/force control applied to compliant unilateral constraints
• Vsc motion and force control of robot manipulators in the presence of environmental constraint uncertainties
• Integrated force and motion control of parallel robots. I: unconstrained space
• A singularity-free motion control algorithm for robot manipulators -- a hybrid system approach
• Robust adaptive motion/force tracking control design for uncertain constrained robot manipulators
• VSC coordinated control of two manipulator arms in the presence of environmental constraints
• Independent hybrid force/motion control of constrained six-degrees-of-freedom manipulators

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