STABILITY ANALYSIS OF A ROBUST NONLINEAR CONTROLLER FOR FLEXIBLE JOINT ROBOT

Abstract

In this research one control system has been designed for robot motion in three dimensional spaces with providing an analytic method for preventing strike to obstacle. One kind of mechanism which is aided by combinational method is used to determine a mechanical arm route and to reach the optimum responses quickly. So first the rigid robot dynamics and its PID control is considered, then FJR becomes a model with structural and nonstructural indefiniteness and changes to the standard form of the resistant control theory. Then the proposed control algorithm is presented given PID control of the rigid robot. Theresults survey and their comparison with normal or ideal states show that we could approach an ideal condition by this system help. Finally, mathematical details of algorithm resistant consistency proof are expressed with two propositions and an adequate condition is obtained for resistant consistency of system.