Stability in robots with delayed feedback: analysis and practical observations

MaRDI QIDQ3515186zbMATH OpenFDO

Authors Amit Ailon, Byung-Ha Ahn

Publication date 29 July 2008

zbMATH Keywords

finite escape timeregion of attractionrobot manipulatorstabilitystate and output controllerstime-delay

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Control/observation systems governed by functional-differential equations (93C23) Automated systems (robots, etc.) in control theory (93C85) Stabilization of systems by feedback (93D15)

Recommendations

• Stability analysis of a rigid robot with output-based controller and time delay
• Robustness of the stability of feedback systems with respect to small time delays
• Stability analysis of controlled multiple-link robotic manipulator systems with time delays
• Robust stability of systems with delayed feedback
• Force measurement time-delays and contact instability phenomenon

Cited in

(5)

• Stability analysis of a rigid robot with output-based controller and time delay
• Asymptotic stability of a mechanical robotics model with damping and delay
• Stability and robustness analysis for human pointing motions with acceleration under feedback delays
• Stability and oscillations in a slow-fast flexible joint system with transformation delay
• Stability analysis of controlled multiple-link robotic manipulator systems with time delays

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