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Adaptive Sliding Mode Control for Robotic Surface Treatment Using Force Feedback

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Adaptive Sliding Mode Control for Robotic Surface Treatment Using Force Feedback

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Gracia Calandin, LI.; Solanes Galbis, JE.; Muñoz-Benavent, P.; Valls Miro, J.; Perez-Vidal, C.; Tornero Montserrat, J. (2018). Adaptive Sliding Mode Control for Robotic Surface Treatment Using Force Feedback. Mechatronics. 52:102-118. https://doi.org/10.1016/j.mechatronics.2018.04.008

Por favor, use este identificador para citar o enlazar este ítem: http://hdl.handle.net/10251/145399

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Title: Adaptive Sliding Mode Control for Robotic Surface Treatment Using Force Feedback
Author:
UPV Unit: Universitat Politècnica de València. Departamento de Ingeniería de Sistemas y Automática - Departament d'Enginyeria de Sistemes i Automàtica
Issued date:
Abstract:
[EN] This work presents a hybrid position-force control of robots in order to apply surface treatments such as polishing, grinding, finishing, deburring, etc. The robot force control is designed using sliding mode concepts ...[+]
Subjects: Force control , Adaptive switching gain , Polishing , Finishing
Copyrigths: Reconocimiento - No comercial - Sin obra derivada (by-nc-nd)
Source:
Mechatronics. (issn: 0957-4158 )
DOI: 10.1016/j.mechatronics.2018.04.008
Publisher:
Elsevier
Publisher version: https://doi.org/10.1016/j.mechatronics.2018.04.008
Thanks:
This work was supported in part by the Spanish Government under the project DPI2017-87656-C2-1-R and the Generalitat Valenciana under Grants VALi + d APOSTD/2016/044 and BEST/2017/029.
Type: Artículo

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