| Journal: | Journal of the Brazilian Society of Mechanical Sciences |
| Database: | PERIÓDICA |
| System number: | 000312146 |
| ISSN: | 0100-7386 |
| Authors: | Mendes, M.F1 Kraus-Junior, W2 Pieri, E.R. de |
| Institutions: | 1Universidade Estadual do Oeste do Parana, Centro de Engenharias e Ciencias Exatas, Foz do Iguacu, Parana. Brasil 2Universidade Federal de Santa Catarina, Departamento de Automacao e Sistemas, Florianopolis, Santa Catarina. Brasil |
| Year: | 2002 |
| Season: | Jul |
| Volumen: | 24 |
| Number: | 3 |
| Pages: | 169-176 |
| Country: | Brasil |
| Language: | Inglés |
| Document type: | Artículo |
| Approach: | Experimental |
| English abstract | The use of a robust position controller for a robotic manipulator moving in free space is presented. The aim is to implement in practice a controller that is robust to uncertainties in the model of the system, as well as being inexpensive from a computational point of view. Variable structure theory provides the technique for the design of such controller. The design steps are presented, first from a theoretical perspective and then applied to the control of a two degree-of-freedom manipulator. Simulation results that backed the implementation are presented, followed by the experiments conducted and the results that were obtained. The conclusion is that variable structure control is readily applicable to industrial robots for the robust control of positions |
| Disciplines: | Ingeniería |
| Keyword: | Ingeniería biónica y cibernética, Ingeniería de control, Robótica, Manipuladores, Control de posición, Control de estructura variable, Robots industriales |
| Keyword: | Engineering, Bionics and cybernetics, Control engineering, Robotics, Manipulators, Position control, Variable structure control, Industrial robotics |
| Full text: | Texto completo (Ver HTML) |
