Application of the Lyapunov Exponent Based on Current Vibration Control Parameter ( CVC) in Control of an Industrial Robot

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dc.contributor.authorSzaniewski, Mateusz
dc.contributor.authorDąbrowski, Artur
dc.contributor.authorBalcerzak, Marek
dc.contributor.authorZawiasa, Piotr
dc.date.accessioned2020-12-18T07:44:30Z
dc.date.available2020-12-18T07:44:30Z
dc.date.issued2015
dc.description.abstractControlling 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.en_EN
dc.identifier.citationMechanics and Mechanical Engineering, Vol. 19, No. 1, 2015, s. 51-61
dc.identifier.issn1428-1511
dc.identifier.urihttp://hdl.handle.net/11652/3129
dc.language.isoenen_EN
dc.publisherWydawnictwo Politechniki Łódzkiej ; Katedra Dynamiki Maszyn - Wydział Mechaniczny Politechniki Łódzkiejpl_PL
dc.publisherLodz University of Technology. Press ; Division of Dynamics - Faculty of Mechanical Engineering, Lodz University of Technologyen_EN
dc.relation.ispartofseriesMechanics and Mechanical Engineering, Vol. 19, No. 1, 2015
dc.subjectlargest Lyapunov exponenten_EN
dc.subjectrobot controlen_EN
dc.subjectstabilityen_EN
dc.subjectnonlinear dynamicsen_EN
dc.subjectnajwiększy wykładnik Lapunowapl_PL
dc.subjectsterowanie robotempl_PL
dc.subjectstabilnośćpl_PL
dc.subjectdynamika nieliniowapl_PL
dc.titleApplication of the Lyapunov Exponent Based on Current Vibration Control Parameter ( CVC) in Control of an Industrial Roboten_EN
dc.typeartykułpl_PL
dc.typearticleen_EN

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