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
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"
Conference_Titel :
Electrical and ELectronic Engineers in Israel, 2000. The 21st IEEE Convention of the
Print_ISBN :
0-7803-5842-2
DOI :
10.1109/EEEI.2000.924400
