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Variable structure systems for control of redundant robot
- Source :
- Robotics and Autonomous Systems. June, 1994, Vol. 13 Issue 1, p13, 12 p.
- Publication Year :
- 1994
-
Abstract
- Variable structure systems (VSS), integrated with kinematic redundant robot control process, manipulate tasks with large decelerations or accelerations. A distributed positioning (DP) concept solves tactical control level. VS control algorithms combined with a PI controller evaluate executive control level. VS and PD controller tracking properties are comparatively analyzed on a SCARA robot with a pick-and-place movement.
- Subjects :
- Robots -- Control systems
Redundancy (Engineering) -- Analysis
Computers
Subjects
Details
- ISSN :
- 09218890
- Volume :
- 13
- Issue :
- 1
- Database :
- Gale General OneFile
- Journal :
- Robotics and Autonomous Systems
- Publication Type :
- Academic Journal
- Accession number :
- edsgcl.15628147