• DocumentCode
    486259
  • Title

    Robot Dynamic Control Instabilities

  • Author

    Williams, S.J. ; Glover, K.

  • Author_Institution
    Information Engineering Division, University Engineering Dept., Mill Lane, Cambridge, England.
  • fYear
    1985
  • fDate
    19-21 June 1985
  • Firstpage
    390
  • Lastpage
    392
  • 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;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    American Control Conference, 1985
  • Conference_Location
    Boston, MA, USA
  • Type

    conf

  • Filename
    4788640
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=486259