Robust sliding mode based impedance control /
The industrial robots are confronted with performing tasks where a contact with their environment occurs. Therefore, a need for control algorithms with position tracking performance and the force control ability appears. Up to date a lot of algorithms were proposed which deal with robot motion and f...
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| Main Authors: | , , , |
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| Format: | Book Chapter |
| Jezik: | English |
| Teme: | |
| Sorodne knjige/članki: | Vsebovano v:
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| Izvleček: | The industrial robots are confronted with performing tasks where a contact with their environment occurs. Therefore, a need for control algorithms with position tracking performance and the force control ability appears. Up to date a lot of algorithms were proposed which deal with robot motion and force control. They could be mainly separated into two great classes, and unconstrained DOFs of the robot are observed separately based on the principe of the ortoghonality, and impedance control properties such as mass, damping and stiffness in order to assure stable dynamic interaction with the invironment. In this paper the robust impedance control law based on the attractive theory of sliding mode is proposed. The control law guarantiees a robot predefined impedance and therefore force regulation based on possessed impedance properties is discussed. Experimental results on a simple 1 DOF mechanism is shown to verify theoretical statements. |
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| Fizični opis: | Str. 77-82. |
| ISBN: | 0780336275 |