Title :
Robot Dynamic Control Instabilities
Author :
Williams, S.J. ; Glover, K.
Author_Institution :
Information Engineering Division, University Engineering Dept., Mill Lane, Cambridge, England.
Abstract :
In this paper we demonstrate that a widely-proposed method of robot dynamic control can be inherently unstable. This instability is due to an algebraic feedback loop causing an ill-posed feedback system. We derive a condition satisfied by the robot inertia martix for instability and examine the performance robustness when the condition is not satisfied.
Keywords :
Acceleration; Control engineering; Couplings; Error correction; Feedback loop; Frequency; Nonlinear dynamical systems; Robot control; Robust control; Robust stability;
Conference_Titel :
American Control Conference, 1985
Conference_Location :
Boston, MA, USA
