Analysis of the robotic computed torque technique

摘要

This work presents a stability and sensitivity analysis of the computed torque technique applied to robotic control, using the regular perturbation theory. Perturbation theory is a general tool for multiple-time, scale system and robustness studies. The proposed theorem considers the development of sufficient conditions for the robust stabilization of a manipulator. In relation with stability, a sensitivity analysis to gain variations is proposed.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>