Title :
A method and a software to analyze robot stability
Author :
Fraile, J.C. ; Perez-Turiel, J. ; Peran, J.R.
Author_Institution :
Dept. of Autom. Syst., Valladolid Univ., Spain
fDate :
28 Oct-1 Nov 1991
Abstract :
The authors present a method developed for analyzing the stability and trajectory of any robot by using decentralized techniques for nonlinear systems. Using Michel´s stability analysis method and Lyapunov techniques, a sufficient condition is obtained for analyzing robot stability starting from the stability of each of its n-coupled subsystems. The analysis is carried out with an exact model of the coupling between the degrees of freedom of the robot. This generates nonlinear models for each of the robot´s subsystems. The method allows the determination of the range of parameters which guarantees the robot´s stability for a given control task along a certain trajectory
Keywords :
Lyapunov methods; control engineering computing; decentralised control; robots; software packages; stability; Lyapunov techniques; Michel´s stability analysis method; control engineering computing; decentralised control; decentralized techniques; nonlinear models; robot stability; software packages; sufficient condition; trajectory; Distributed control; Large-scale systems; Nonlinear dynamical systems; Robot control; Robot kinematics; Robotics and automation; Service robots; Stability analysis; Stability criteria; Sufficient conditions;
Conference_Titel :
Industrial Electronics, Control and Instrumentation, 1991. Proceedings. IECON '91., 1991 International Conference on
Conference_Location :
Kobe
Print_ISBN :
0-87942-688-8
DOI :
10.1109/IECON.1991.239277
