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- W2123454971 abstract "This article studies the variable structure control of robot manipulators with flexible joints. A second order reference model and a smooth control law eliminate the reaching phase problems and the chattering usually present in the sliding mode. The results show a remarkable improvement of the stability over conventional variable structure controllers, while the algorithm maintains a low computational load that makes it well suited for microcomputer implementation. >" @default.
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- W2123454971 date "2002-12-31" @default.
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- W2123454971 title "Variable structure control of manipulators with compliant joints" @default.
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