Title :
A determination of robotic regulator gains
Author :
Bestaoui, Yasmina ; Benmerzouk, Djamila
Author_Institution :
Lab. d´´Autom. de Nantes, Nantes Univ., France
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;
Conference_Titel :
American Control Conference, Proceedings of the 1995
Conference_Location :
Seattle, WA
Print_ISBN :
0-7803-2445-5
DOI :
10.1109/ACC.1995.531388
