Title :
A sensitivity analysis of the computed torque technique
Author :
Bestaoui, Yasmina ; Benmerzouk, Djamila
Author_Institution :
Lab. d´´Autom., CNRS, Nantes, France
Abstract :
Feedback design research has classically ties with Lyapunov stability theory and with the classical theory of dynamical systems. This work presents a sensitivity analysis of the computed torque technique applied to robotic control, using the bifurcation approach
Keywords :
Lyapunov methods; bifurcation; feedback; nonlinear dynamical systems; robots; sensitivity analysis; stability; torque control; Lyapunov stability; bifurcation; computed torque technique; dynamical systems; feedback design; nonlinear dynamical systems; robotic control; sensitivity analysis; Bifurcation; Chaos; Feedback; Lyapunov method; Manipulator dynamics; Robot sensing systems; Sensitivity analysis; Stability; Torque; Trajectory;
Conference_Titel :
American Control Conference, Proceedings of the 1995
Conference_Location :
Seattle, WA
Print_ISBN :
0-7803-2445-5
DOI :
10.1109/ACC.1995.532780
