− − − − In this paper the implementation of several variable structure algorithms in the position/force hybrid control of robotic manipulators is studied. The robustness and performances of the system are analyzed both in terms of time and frequency responses. This paper also studies the impact phenomena and it is demonstrated that the transient response,… (More)
− − − − This paper describes an approach to automatic tuning of PID position controllers for manipulators with nonlinear friction at the articulations. The algorithm works in joint space coordinates and it uses the calculation of PID controllers parameters using step input torque signals. Several simulation results show this scheme performance.