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

fYear

1991

fDate

28 Oct-1 Nov 1991

Firstpage

1158

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics, Control and Instrumentation, 1991. Proceedings. IECON '91., 1991 International Conference on

Conference_Location

Kobe

Print_ISBN

0-87942-688-8

Type

conf

DOI

10.1109/IECON.1991.239277

Filename

239277