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A decentralized variable structure control algorithm for robotic manipulators

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2 Author(s)
Morgan, R. ; Reliance Electric, Columbus, OH, USA ; Ozguner, U.

A decentralized variable structure control algorithm is developed for robotic manipulators to cause sliding modes to exist. New approaches are used to reach the sliding mode and to reduce non-ideal characteristics while in the sliding mode. Both position control and trajectory following are examined through two-link and three-link digital simulations.

Published in:

Robotics and Automation, IEEE Journal of  (Volume:1 ,  Issue: 1 )

Date of Publication:

Mar 1985

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