By Topic

Realization of a control device for a robotic manipulator based on nonlinear decoupling and sliding mode control

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
A. Bellini ; Dept. of Electron. Eng., Rome Univ., Italy ; G. Figalli ; P. Pinello ; G. Ulivi

The realization of a control system for a robotic manipulator is described. The control scheme is subdivided into two hierarchical levels: the inner level performs the output decoupling of the joint dynamics: the outer one computes the desired accelerations. The decoupling, obtained by a simplified compensator and a sliding mode technique, is realized by means of analog circuits, while the tracking of the desired trajectories is performed by a digital computer. The description of measurements and tests is included

Published in:

IEEE Transactions on Industry Applications  (Volume:25 ,  Issue: 5 )