• DocumentCode
    2340537
  • Title

    A sensitivity analysis of the computed torque technique

  • Author

    Bestaoui, Yasmina ; Benmerzouk, Djamila

  • Author_Institution
    Lab. d´´Autom., CNRS, Nantes, France
  • Volume
    6
  • fYear
    1995
  • fDate
    21-23 Jun 1995
  • Firstpage
    4458
  • Abstract
    Feedback design research has classically ties with Lyapunov stability theory and with the classical theory of dynamical systems. This work presents a sensitivity analysis of the computed torque technique applied to robotic control, using the bifurcation approach
  • Keywords
    Lyapunov methods; bifurcation; feedback; nonlinear dynamical systems; robots; sensitivity analysis; stability; torque control; Lyapunov stability; bifurcation; computed torque technique; dynamical systems; feedback design; nonlinear dynamical systems; robotic control; sensitivity analysis; Bifurcation; Chaos; Feedback; Lyapunov method; Manipulator dynamics; Robot sensing systems; Sensitivity analysis; Stability; Torque; Trajectory;
  • 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.1995.532780
  • Filename
    532780
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2340537