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

Published online by Cambridge University Press:  01 March 2000

Abílio Azenha
Abílio Azenha
Affiliation:
Department of Electrical and Computer Engineering, Faculty of Engineering, University of Porto, Rua dos Bragas, 4099 Porto Codex (Portugal) E-mail: [email protected]
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Abstract

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.

Keywords

Iterative learning controlPosition/force controlVariable structure controlSimulationEnvironment modelling
Type
Research Article
Information
Robotica , Volume 18 , Issue 2 , March 2000 , pp. 213 - 217
Copyright
© 2000 Cambridge University Press

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