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

Identifier
10.3182/20060906-3-IT-2910.00044

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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