Wydział Mechaniczny / Faculty of Mechanical Engineering / W1

Stały URI zbioruhttp://hdl.handle.net/11652/1

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20151

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Autorsearch.filters.applied.operator.equals: search.filters.author.Zawiasa, PiotrTematsearch.filters.applied.operator.equals: search.filters.subject.largest Lyapunov exponent

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    Application of the Lyapunov Exponent Based on Current Vibration Control Parameter ( CVC) in Control of an Industrial Robot
    (Wydawnictwo Politechniki Łódzkiej ; Katedra Dynamiki Maszyn - Wydział Mechaniczny Politechniki Łódzkiej, 2015) Szaniewski, Mateusz; Dąbrowski, Artur; Balcerzak, Marek; Zawiasa, Piotr
    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.