DocumentCode
404175
Title
Asymptotic stability in flexible-joint robots with multiple time delays
Author
Ailon, Amit
Author_Institution
Dept. of Electr. & Comput. Eng., Ben-Gurion Univ. of the Negev, Beer-Sheva, Israel
Volume
5
fYear
2003
fDate
9-12 Dec. 2003
Firstpage
4375
Abstract
This study considers the stability problem of a flexible-joint robot with delay in feedback. We assume in our analysis that the controller uses only position measurements. The two cases of single and multiple time-delays, are considered. Sufficient conditions for asymptotic stability of the system under consideration, are established. The applications of some useful structural properties of the robot model, have been demonstrated.
Keywords
asymptotic stability; closed loop systems; control system synthesis; delays; feedback; flexible manipulators; position measurement; asymptotic stability; closed loop systems; control system synthesis; controller; feedback; flexible joint robots; multiple time delays; position measurements; single time delays; structural properties; sufficient conditions; Actuators; Asymptotic stability; Control systems; Data processing; Delay effects; Feedback; Position measurement; Robot control; Sufficient conditions; Torque control;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2003. Proceedings. 42nd IEEE Conference on
ISSN
0191-2216
Print_ISBN
0-7803-7924-1
Type
conf
DOI
10.1109/CDC.2003.1272181
Filename
1272181
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