| contributor author | Robert R. Y. Zhen | |
| contributor author | Andrew A. Goldenberg | |
| date accessioned | 2017-05-08T23:49:42Z | |
| date available | 2017-05-08T23:49:42Z | |
| date copyright | June, 1996 | |
| date issued | 1996 | |
| identifier issn | 0022-0434 | |
| identifier other | JDSMAA-26224#327_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/116683 | |
| description abstract | This paper addresses the problem of robust hybrid position and force control of robot manipulators. Variable structure control with sliding mode is used to implement the hybrid control strategy. Two variable structure control algorithms are developed in task space. One of the algorithms is based on hierarchical control method, and the other is developed for control of robot manipulators used to carried out both unconstrained and constrained tasks. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Variable Structure Hybrid Control of Manipulators in Unconstrained and Constrained Motion | |
| type | Journal Paper | |
| journal volume | 118 | |
| journal issue | 2 | |
| journal title | Journal of Dynamic Systems, Measurement, and Control | |
| identifier doi | 10.1115/1.2802322 | |
| journal fristpage | 327 | |
| journal lastpage | 332 | |
| identifier eissn | 1528-9028 | |
| tree | Journal of Dynamic Systems, Measurement, and Control:;1996:;volume( 118 ):;issue: 002 | |
| contenttype | Fulltext | |