Variable Structure Hybrid Control of Manipulators in Unconstrained and Constrained Motion

DOI10.1115/1.2802322zbMATH Open0863.93055OpenAlexW2012438182MaRDI QIDQ5285337FDOQ5285337

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

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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)

Cited In (14)

• Hybrid Constraint Space Dynamics and Control for Robot Manipulators
• Joint‐space orthogonalization and passivity for physical interpretations of dextrous robot motions under geometric constraints
• VSC coordinated control of two manipulator arms in the presence of environmental constraints
• Stability of hybrid position and force control for robotic manipulator with kinematics and dynamics uncertainties.
• Independent hybrid force/motion control of constrained six-degrees-of-freedom manipulators
• Multi-input second-order sliding-mode hybrid control of constrained manipulators
• Global asymptotic stability of hybrid position/force control applied to compliant unilateral constraints
• Integrated force and motion control of parallel robots. I: unconstrained space
• Vsc motion and force control of robot manipulators in the presence of environmental constraint uncertainties
• Title not available (Why is that?)
• Robust adaptive motion/force tracking control design for uncertain constrained robot manipulators
• A singularity-free motion control algorithm for robot manipulators -- a hybrid system approach
• Hybrid control: A constrained motion perspective
• Variable structure force control of flexible manipulator based on distributed parameter model

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