机械臂变结构位力混合控制的稳定性分析

Proceedings of IEEE International Conference on Intelligent Engineering Systems Pub Date : 1997-09-15 DOI:10.1109/INES.1997.632439

A. Azenha, J. T. Tenreiro Machado

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引用次数: 4

摘要

本文研究了一种变结构算法在机械臂位置/力混合控制中的实现。从时间响应和频率响应两方面分析了系统的鲁棒性和性能。

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Stability analysis in variable structure position/force hybrid control of manipulators

In this paper is studied the implementation of a variable structure algorithm in the position/force hybrid control of robotic manipulators. The robustness and performances of the system are analysed both in terms of time and frequency responses.

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Proceedings of IEEE International Conference on Intelligent Engineering Systems

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