Analysis of the robotic computed torque technique

Author

Bestaoui, Yasmina ; Benmerzouk, Djamila

Author_Institution

lab. d´´Autom., Nantes Univ., France

fYear

1993

fDate

17-20 Oct 1993

Firstpage

189

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/ICSMC.1993.390847

Filename

390847

Link To Document

https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=290775