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contributor authorRobert R. Y. Zhen
contributor authorAndrew A. Goldenberg
date accessioned2017-05-08T23:49:42Z
date available2017-05-08T23:49:42Z
date copyrightJune, 1996
date issued1996
identifier issn0022-0434
identifier otherJDSMAA-26224#327_1.pdf
identifier urihttp://yetl.yabesh.ir/yetl/handle/yetl/116683
description abstractThis 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.
publisherThe American Society of Mechanical Engineers (ASME)
titleVariable Structure Hybrid Control of Manipulators in Unconstrained and Constrained Motion
typeJournal Paper
journal volume118
journal issue2
journal titleJournal of Dynamic Systems, Measurement, and Control
identifier doi10.1115/1.2802322
journal fristpage327
journal lastpage332
identifier eissn1528-9028
treeJournal of Dynamic Systems, Measurement, and Control:;1996:;volume( 118 ):;issue: 002
contenttypeFulltext


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