Title :
Analysis of the robotic computed torque technique
Author :
Bestaoui, Yasmina ; Benmerzouk, Djamila
Author_Institution :
lab. d´´Autom., Nantes Univ., France
Abstract :
This work presents a stability and sensitivity analysis of the computed torque technique applied to robotic control, using the regular perturbation theory. Perturbation theory is a general tool for multiple-time, scale system and robustness studies. The proposed theorem considers the development of sufficient conditions for the robust stabilization of a manipulator. In relation with stability, a sensitivity analysis to gain variations is proposed
Keywords :
manipulator dynamics; nonlinear differential equations; perturbation techniques; perturbation theory; robust control; sensitivity analysis; torque; manipulator; multiple-time scale system; regular perturbation theory; robot manipulator control; robotic computed torque technique; robotic control; robust stabilization; robustness; sensitivity analysis; stability; Control systems; Feedback; Inverse problems; Manipulator dynamics; Robot control; Robot sensing systems; Sensitivity analysis; Stability analysis; Torque control; Trajectory;
Conference_Titel :
Systems, Man and Cybernetics, 1993. 'Systems Engineering in the Service of Humans', Conference Proceedings., International Conference on
Conference_Location :
Le Touquet
Print_ISBN :
0-7803-0911-1
DOI :
10.1109/ICSMC.1993.390847
