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Robust impedance controlHace, Aleš ; Jezernik, Karel ; Uran, SuzanaIndustrial robots are confronted with performing tasks where a contact with their environment occurs. Therefore, a need for control algorithms with position tracking performance and the force control ... ability appears. Up to date a lot of algorithms were proposed which deal with robot motion and force control. In this paper a robust impedance control law based on an attractive theory of sliding mode is proposed. The control law guarantees a robot predefined impedance and therefore a force regulation based on the possessed impedance properties is feasible. The proposed impedance controller is used in a force-tracking task. Experimental results on a simple IDOF mechanism and 3DOF direct drive robot mechanism are reported.Source: Proceedings of the 1998 IEEE International Conference on Control Applications, September 1-4, 1998, Trieste, Italy (Vol. I, str. 583-587)Type of material - conference contributionPublish date - 1998Language - englishCOBISS.SI-ID - 3893526
Author
Hace, Aleš |
Jezernik, Karel |
Uran, Suzana
Topics
control |
robust control |
sliding mode control |
impedance |
robot |
krmiljenje |
regulacije |
drsni režim |
impedanca |
robustne regulacije
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source: Proceedings of the 1998 IEEE International Conference on Control Applications, September 1-4, 1998, Trieste, Italy (Vol. I, str. 583-587)
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Database name | Field | Year |
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Hace, Aleš | 15373 |
Jezernik, Karel | 03018 |
Uran, Suzana | 05533 |
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