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Authors
Francisco J. T. Vargas, Edson R. De Pieri, Eugenio B. Castelan, Cristiane C. Paim

Identifier
None

Index Terms
friction compensation,position and force control,robustness

Abstract
This paper presents an experimental implementation of position and force control of a like industrial manipulator considering robustness and friction compensation aspects. Project of controllers are done using the De Luca and Manes model and a control strategy based on Variable Structure Control (VSC). Practical implementation is done considering tasks as cut of material and tracking reference for force and position. These tasks were implemented in a research SCARA robot, with four degrees of freedom with force sensor and open architecture of control.

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