• DocumentCode
    3783555
  • Title

    Sufficient conditions for stability of a rigid robot with delayed input

  • Author

    A. Ailon;M.I. Gil

  • Author_Institution
    Dept. of Electr. Eng. & Comput. Eng., Ben-Gurion Univ. of the Negev, Beer-Sheva, Israel
  • fYear
    2000
  • Firstpage
    293
  • Lastpage
    296
  • Abstract
    Considers the problem of stabilizing a rigid robot with an output-based controller and time delayed input functions applied to the robot joints. We establish sufficient conditions for asymptotic stability of the system under consideration. These conditions are based on well-defined relationships between the magnitude of the controller gains and the time delay factor.
  • Keywords
    "Sufficient conditions","Robots","Delay effects","Asymptotic stability","Force control","Gas insulated transmission lines","Torque control","Nonlinear control systems","Mathematics","Control systems"
  • Publisher
    ieee
  • Conference_Titel
    Electrical and ELectronic Engineers in Israel, 2000. The 21st IEEE Convention of the
  • Print_ISBN
    0-7803-5842-2
  • Type

    conf

  • DOI
    10.1109/EEEI.2000.924400
  • Filename
    924400
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3783555