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




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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


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.


Słowa kluczowe

largest Lyapunov exponent, robot control, stability, nonlinear dynamics, największy wykładnik Lapunowa, sterowanie robotem, stabilność, dynamika nieliniowa


Mechanics and Mechanical Engineering, Vol. 19, No. 1, 2015, s. 51-61