Implementation of a hybrid force-position controller using sliding mode techniques.
Almerico FedeleAntonio FiorettiGiovanni UliviPublished in: ICRA (1992)
Keyphrases
- sliding mode
- position control
- control scheme
- variable structure
- robot manipulators
- force control
- control strategy
- stability analysis
- closed loop
- sliding mode control
- robotic manipulator
- trajectory tracking
- sliding mode controller
- control system
- control law
- dynamic model
- control theory
- neural controller
- pid controller
- visual servoing
- real time
- adaptive control
- control algorithm
- experimental data
- lyapunov stability