DocumentCode
2261330
Title
A determination of robotic regulator gains
Author
Bestaoui, Yasmina ; Benmerzouk, Djamila
Author_Institution
Lab. d´´Autom. de Nantes, Nantes Univ., France
Volume
3
fYear
1995
fDate
21-23 Jun 1995
Firstpage
2332
Abstract
Presents a stability analysis of the computed torque technique, using perturbation theory. Using this analysis a simple nonlinear gain function is proposed for the PID regulators
Keywords
Lyapunov methods; manipulator dynamics; perturbation techniques; polynomials; stability; three-term control; PID regulators; computed torque technique; nonlinear gain function; perturbation theory; robotic regulator gains; stability analysis; Algebra; Asymptotic stability; Couplings; Differential equations; Lyapunov method; Manipulator dynamics; Regulators; Robot control; Stability analysis; Torque;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, Proceedings of the 1995
Conference_Location
Seattle, WA
Print_ISBN
0-7803-2445-5
Type
conf
DOI
10.1109/ACC.1995.531388
Filename
531388
Link To Document