Application of the Lyapunov Exponent Based on Current Vibration Control Parameter ( CVC) in Control of an Industrial Robot
Ładowanie...
Data
2015
Tytuł czasopisma
ISSN czasopisma
Tytuł tomu
Wydawca
Wydawnictwo Politechniki Łódzkiej ; Katedra Dynamiki Maszyn - Wydział Mechaniczny Politechniki Łódzkiej
Lodz University of Technology. Press ; Division of Dynamics - Faculty of Mechanical Engineering, Lodz University of Technology
Lodz University of Technology. Press ; Division of Dynamics - Faculty of Mechanical Engineering, Lodz University of Technology
Abstrakt
Controlling dynamics of industrial robots is one of the most important and complicated
tasks in robotics. In some works [3, 7], there are algorithms of the manipulators steering
with flexible joints or arms. However, introducing them to calculation of trajectory
results in complicated equations and a longer time of counting. On the other hand,
works [4,5,6]show that improvement of the tool path is possible thanks to the previousidentification
of the robot errors and their compensation. This text covers application
of Largest Lyapunov Exponent (LLE) as a criterion for control performance assessment
(CPA) in a real control system. The main task is to find a simple and effective method
to search for the best configuration of a controller in a control system. In this context,
CPA criterion based on calculation of LLE by means of a new method [9-11] is presented
in the article.
Opis
Słowa kluczowe
largest Lyapunov exponent, robot control, stability, nonlinear dynamics, największy wykładnik Lapunowa, sterowanie robotem, stabilność, dynamika nieliniowa
Cytowanie
Mechanics and Mechanical Engineering, Vol. 19, No. 1, 2015, s. 51-61