OTHER
Application of Sliding Mode to Constrained Robot Motion Control
K.D. Young
- Year
- 1988
- Citations
- 19
Abstract
Many robotic maipulator tasks involve arm motions which are constrained by the task geometry. This paper presents a new approach, based on the theory of variable structure systems and sliding mode, for the analysis and control design for robotic systems subject to task constraints.
Keywords
Task (project management)Computer scienceSliding mode controlControl theory (sociology)RobotMotion controlVariable structure controlMotion (physics)Control engineeringMode (computer interface)
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