Stability analysis of a rigid robot with output-based controller and time delay

Amit Ailon; Michael I. Gil'

doi:10.1016/S0167-6911(99)00120-6

Stability analysis of a rigid robot with output-based controller and time delay

Amit Ailon, Michael I. Gil'

Research output: Contribution to journal › Article › peer-review

26 Scopus citations

Abstract

This study 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.

Original language	English
Pages (from-to)	31-35
Number of pages	5
Journal	Systems and Control Letters
Volume	40
Issue number	1
DOIs	https://doi.org/10.1016/S0167-6911(99)00120-6
State	Published - 15 May 2000

Keywords

Position measurements
Rigid robot
Stability
Time delay

ASJC Scopus subject areas

Control and Systems Engineering
Computer Science (all)
Mechanical Engineering
Electrical and Electronic Engineering

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10.1016/S0167-6911(99)00120-6

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title = "Stability analysis of a rigid robot with output-based controller and time delay",

abstract = "This study 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 = "Position measurements, Rigid robot, Stability, Time delay",

author = "Amit Ailon and Gil', {Michael I.}",

note = "Funding Information: This research was supported in part by the Paul Ivanir Center for Robotics Research and Production Management, Ben Gurion University of the Negev, Beer Sheva, Israel. M. Gil{\textquoteright} was supported by the Israel Ministry of Science and Technology Kamea Fellowship. ",

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AU - Gil', Michael I.

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PY - 2000/5/15

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N2 - This study 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.

AB - This study 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.

KW - Position measurements

KW - Rigid robot

KW - Stability

KW - Time delay

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U2 - 10.1016/S0167-6911(99)00120-6

DO - 10.1016/S0167-6911(99)00120-6

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JO - Systems and Control Letters

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IS - 1

ER -

Stability analysis of a rigid robot with output-based controller and time delay

Abstract

Keywords

ASJC Scopus subject areas

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