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A Variable Structure Control Algorithm for Robot Manipulators Using Acceleration Feedback

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Highly Redundant Sensing in Robotic Systems

Part of the book series: NATO ASI Series ((NATO ASI F,volume 58))

Abstract

A new variable structure control algorithm for robot manipulators is announced. Second order linear system sliding curves and a new control law, eliminate the reaching phase problems as well as the chattering usually present in the sliding mode. This controller architecture may also be interpreted as the result of the acceleration data integration on the VSS algorithm. Consequently, there is a shift from the computational burden, often present in sophisticated control schemes, towards a simpler but highly sensor based structure. The results show a remarkable improvement over conventional VSS controllers, maintaining, however, a low computational complexity which make it well suited for microcomputer implementation.

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Author information

Authors and Affiliations

  1. Dept. of Electrical and Computer Engineering, Faculty of Engineering of the University of Porto, Portugal

    J. A. Tenreiro Machado & J. L. Martins de Carvalho

Authors
  1. J. A. Tenreiro Machado
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  2. J. L. Martins de Carvalho
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Editor information

Editors and Affiliations

  1. Center for Information Research, University of Florida, 32611, Gainesville, Florida, USA

    Julius T. Tou

  2. Division of Engineering Cybernetics, Norwegian Institute of Technology, University of Trondheim, Trondheim, Norway

    Jens G. Balchen

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© 1990 Springer-Verlag Berlin Heidelberg

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Machado, J.A.T., Martins de Carvalho, J.L. (1990). A Variable Structure Control Algorithm for Robot Manipulators Using Acceleration Feedback. In: Tou, J.T., Balchen, J.G. (eds) Highly Redundant Sensing in Robotic Systems. NATO ASI Series, vol 58. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-84051-7_16

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  • DOI: https://doi.org/10.1007/978-3-642-84051-7_16

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-84053-1

  • Online ISBN: 978-3-642-84051-7

  • eBook Packages: Springer Book Archive

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