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Non-smooth -position control of mechanical manipulators with frictional joints

Non-smooth -position control of mechanical manipulators with frictional joints Non-smooth -control synthesis is developed and applied to a regulation problem for mechanical manipulators with friction. Due to the nature of the approach, the resulting regulator additionally yields the desired robustness properties against the discrepancy between the real friction and that described in the model. To facilitate exposition, the friction model chosen for treatment is confined to the Dahl model augmented with viscous friction. Performance issues of the nonsmooth -regulator are illustrated in an experimental study made for a three degrees-of-freedom robot manipulator. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png International Journal of Control Taylor & Francis

Non-smooth -position control of mechanical manipulators with frictional joints

International Journal of Control , Volume 77 (11): 8 – Jul 20, 2004
8 pages

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References (30)

Publisher
Taylor & Francis
Copyright
Copyright Taylor & Francis Group, LLC
ISSN
1366-5820
eISSN
0020-7179
DOI
10.1080/0020717042000273087
Publisher site
See Article on Publisher Site

Abstract

Non-smooth -control synthesis is developed and applied to a regulation problem for mechanical manipulators with friction. Due to the nature of the approach, the resulting regulator additionally yields the desired robustness properties against the discrepancy between the real friction and that described in the model. To facilitate exposition, the friction model chosen for treatment is confined to the Dahl model augmented with viscous friction. Performance issues of the nonsmooth -regulator are illustrated in an experimental study made for a three degrees-of-freedom robot manipulator.

Journal

International Journal of ControlTaylor & Francis

Published: Jul 20, 2004

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