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

• Autorzy: Szaniewski M. , Dąbrowski A. , Balcerzak M. , Zawiasa P.
• Języki publikacji: EN

Abstrakty

EN

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

EN

largest Lyapunov exponent; robot control; stability; nonlinear dynamics

PL

największy wykładnik Lapunowa; automatyka; stabilność; dynamika nieliniowa

• Wydawca: Wydawnictwo Politechniki Łódzkiej
• Czasopismo: Mechanics and Mechanical Engineering
• Rocznik: 2015
• Tom: Vol. 19, nr 1
• Strony: 51--61
• Opis fizyczny: Bibliogr. 25 poz.

Twórcy

autor

Szaniewski M.

• Department of Dynamics Lodz University of Technology Stefanowskiego 1/15, 90-924 Lódź, Poland

autor

Dąbrowski A.

• Department of Dynamics Lodz University of Technology Stefanowskiego 1/15, 90-924 Lódź, Poland

autor

Balcerzak M.

• Department of Dynamics Lodz University of Technology Stefanowskiego 1/15, 90-924 Lódź, Poland

autor

Zawiasa P.

• Institute of Machine Tools and Manufacturing Technology Lodz University of Technology Stefanowskiego 1/15, 90-924 Lódź, Poland

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