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Adaptive SMC For Trajectory Tracking In FreeForm Grinding
Klecker, Sophie; Plapper, Peter
2016In 2016 IEEE International Conference on Industrial Informatics, Poitiers, 18th-21st July 2016
Peer reviewed
 

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Abstract :
[en] This work is a first step to the automation of freeform surface grinding. A control strategy for a robotic manipulator following a path which includes switching between different surfaces, constant depths of cut and system-inherent as well as environmental uncertainties is presented. The sliding mode control scheme with adaptive parameter update law is verified through simulation.
Disciplines :
Mechanical engineering
Author, co-author :
Klecker, Sophie ;  University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit
Plapper, Peter ;  University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit
External co-authors :
no
Language :
English
Title :
Adaptive SMC For Trajectory Tracking In FreeForm Grinding
Publication date :
July 2016
Event name :
14th International Conference on Industrial Informatics, IEEE-INDIN 2016
Event place :
Poitiers, France
Event date :
from 18-07-2016 to 21-07-2016
Audience :
International
Main work title :
2016 IEEE International Conference on Industrial Informatics, Poitiers, 18th-21st July 2016
Publisher :
IEEE
Peer reviewed :
Peer reviewed
Name of the research project :
R-AGR-0071 - IRP13 - PROBE (20130101-20151231) - PLAPPER Peter
Available on ORBilu :
since 01 September 2016

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