Szaniewski, MateuszDąbrowski, ArturBalcerzak, MarekZawiasa, Piotr2020-12-182020-12-182015Mechanics and Mechanical Engineering, Vol. 19, No. 1, 2015, s. 51-611428-1511http://hdl.handle.net/11652/3129Controlling 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.enlargest Lyapunov exponentrobot controlstabilitynonlinear dynamicsnajwiększy wykładnik Lapunowasterowanie robotemstabilnośćdynamika nieliniowaartykuł