Stability analysis of a rigid robot with output-based controller and time delay |
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| Authors: | Amit Ailon,Michael I. Gil&#x |
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| Affiliation: | a Department of Electrical and Computer Engineering, Ben Gurion University of the Negev, Beer Sheva 84105, Israel;b Department of Mathematics, Ben Gurion University of the Negev, Beer Sheva 84105, Israel |
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| Abstract: | This study considers the problem of stabilizing a rigid robot with an output-based controller and time-delayed input functions applied to the robot joints. We establish sufficient conditions for asymptotic stability of the system under consideration. These conditions are based on well-defined relationships between the magnitude of the controller gains and the time delay factor. |
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| Keywords: | Rigid robot Time delay Position measurements Stability |
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