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A Variable Structure Control Algorithm for Robot Manipulators Using Acceleration Feedback

  • J. A. Tenreiro Machado
  • J. L. Martins de Carvalho
Conference paper
Part of the NATO ASI Series book series (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.

Keywords

Order Linear Robot Manipulator Sliding Mode Variable Structure System Controller Architecture 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin Heidelberg 1990

Authors and Affiliations

  • J. A. Tenreiro Machado
    • 1
  • J. L. Martins de Carvalho
    • 1
  1. 1.Dept. of Electrical and Computer EngineeringFaculty of Engineering of the University of PortoPortugal

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