Adaptive sliding-mode hybrid force/position controller for flexible joint robot
A novel adaptive sliding mode control design is developed for trajectory tracking of a class of flexible robots in this paper. This control design uses a force/position controller for robots with flexible joints where the friction between the end effector and the environment is taken into account. F...
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Published in | 2008 IEEE International Conference on Mechatronics and Automation pp. 724 - 731 |
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Main Authors | , , |
Format | Conference Proceeding |
Language | English |
Published |
IEEE
01.08.2008
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Subjects | |
Online Access | Get full text |
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Summary: | A novel adaptive sliding mode control design is developed for trajectory tracking of a class of flexible robots in this paper. This control design uses a force/position controller for robots with flexible joints where the friction between the end effector and the environment is taken into account. For systematic reasons the controller is designed considering the rigid links subsystem and the flexible joints. The proposed control system, satisfies the stability of the two subsystems and cope with the uncertainty of the robot dynamics. Finally simulation results are given to demonstrate the effectiveness of the proposed controller. |
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ISBN: | 1424426316 9781424426317 |
ISSN: | 2152-7431 2152-744X |
DOI: | 10.1109/ICMA.2008.4798846 |