Iterative learning in variable structure position/force hybrid control of manipulators

• Type: Article in International Scientific Journal
• Date: 2000

Authors

Abílio Joaquim Gomes de Oliveira Azenha (Author) FEUP

Journal

Title: Robotica

Vol. 18 No. 2

Pages: 213-217

ISSN: 0263-5747

Publisher: Cambridge University Press

Scientific classification

FOS: Engineering and technology > Electrical engineering, Electronic engineering, Information engineering

CORDIS: Technological sciences > Engineering > Control engineering > Robótica Robotics

Other information

DOI: 10.1017/S026357479900199X

Abstract (EN): This paper presents a novel approach to the hybrid position/force control of robot manipulators employed in executing repetitive tasks that involve contact with the environment. The constraint surface is assumed to be a plane and its respective dynamics is modelled by a mass-dashpot-spring scheme. Time results obtained by simulations are very encouraging for future research and developments, because the system's behaviour is very efficient.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 5