Iterative learning in variable structure position/force hybrid control of manipulators

  • Authors:

  • Abílio Azenha

  • Affiliations:

  • Department of Electrical and Computer Engineering, Faculty of Engineering, University of Porto, Rua dos Bragas, 4099 Porto Codex (Portugal) E-mail: abilio_azenha@hotmail.com

  • Venue:
  • Robotica
  • Year:
  • 2000

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Abstract

This paper presents a novel approach to the hybrid position/force control of robot manipulators employed in executing repetitive tasks that involve contact with the environment. The constraint surface is assumed to be a plane and its respective dynamics is modelled by a mass-dashpot-spring scheme. Time results obtained by simulations are very encouraging for future research and developments, because the system's behaviour is very efficient.