A method and a software to analyze robot stability

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 fro...

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Bibliographic Details
Main Authors: Fraile, J.C., Perez-Turiel, J., Peran, J.R.
Format: Conference Proceeding
Language:English
Subjects:
Distributed control
Large-scale systems
Nonlinear dynamical systems
Robot control
Robot kinematics
Robotics and automation
Service robots
Stability analysis
Stability criteria
Sufficient conditions
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Summary: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.< >
DOI:10.1109/IECON.1991.239277