{"title":"机器人连续滑模阻抗控制","authors":"S. Uran, K. Jezernik","doi":"10.1109/ISIE.1999.801810","DOIUrl":null,"url":null,"abstract":"In the paper a continuous sliding mode impedance robot task space controller is presented. Continuous sliding mode was introduced into the robot task space impedance control in order to assure robustness of the control approach to robot dynamic parameters changes and in order to achieve simple implementation of the control algorithm. The analysis of the robot dynamic model is represented from which robot singularity points are determined and the range for the estimated value of robot inertia is obtained. The control algorithm is designed and the simulation and experimental results are represented.","PeriodicalId":227402,"journal":{"name":"ISIE '99. Proceedings of the IEEE International Symposium on Industrial Electronics (Cat. No.99TH8465)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1999-07-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Continuous sliding mode impedance control for robots\",\"authors\":\"S. Uran, K. Jezernik\",\"doi\":\"10.1109/ISIE.1999.801810\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In the paper a continuous sliding mode impedance robot task space controller is presented. Continuous sliding mode was introduced into the robot task space impedance control in order to assure robustness of the control approach to robot dynamic parameters changes and in order to achieve simple implementation of the control algorithm. The analysis of the robot dynamic model is represented from which robot singularity points are determined and the range for the estimated value of robot inertia is obtained. The control algorithm is designed and the simulation and experimental results are represented.\",\"PeriodicalId\":227402,\"journal\":{\"name\":\"ISIE '99. Proceedings of the IEEE International Symposium on Industrial Electronics (Cat. No.99TH8465)\",\"volume\":\"42 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1999-07-12\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"ISIE '99. Proceedings of the IEEE International Symposium on Industrial Electronics (Cat. No.99TH8465)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ISIE.1999.801810\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"ISIE '99. Proceedings of the IEEE International Symposium on Industrial Electronics (Cat. No.99TH8465)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ISIE.1999.801810","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Continuous sliding mode impedance control for robots
In the paper a continuous sliding mode impedance robot task space controller is presented. Continuous sliding mode was introduced into the robot task space impedance control in order to assure robustness of the control approach to robot dynamic parameters changes and in order to achieve simple implementation of the control algorithm. The analysis of the robot dynamic model is represented from which robot singularity points are determined and the range for the estimated value of robot inertia is obtained. The control algorithm is designed and the simulation and experimental results are represented.
京公网安备 11010802042870号
京ICP备2023020795号-1
分享
求助内容：
应助结果提醒方式：
扫码关注我们
