Nonlinear bifurcation analysis of a robotic arm subject to digital position control

Giuseppe Habib, Giuseppe Rega, G. Stépán

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Precision and stability in position control of robots are critical parameters in many industrial applications where high accuracy is needed. It is well known that digital effect is destabilizing and can cause instabilities. In this paper, we analyze a single DoF system and we present the stability limits in the parameter space of the control gains. Furthermore we introduce a nonlinearity relative to the saturation of the control force in the model, reduce the dynamics of the nonlinear map to its local center manifold, study the bifurcation along the stability border and identify conditions under which a supercritical or subcritical bifurcation occurs. The obtained results explain some of the typical instabilities occurring in industrial applications. We verify the obtained results through numerical simulations.

Original languageEnglish
Title of host publicationProceedings of the ASME Design Engineering Technical Conference
Pages483-492
Number of pages10
Volume4
EditionPARTS A AND B
DOIs
Publication statusPublished - 2011
EventASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2011 - Washington, DC, United States
Duration: Aug 28 2011Aug 31 2011

Other

OtherASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2011
CountryUnited States
CityWashington, DC
Period8/28/118/31/11

Fingerprint

Robotic arms
Digital Control
Position Control
Position control
Bifurcation Analysis
Nonlinear Analysis
Robotics
Industrial Application
Bifurcation
Nonlinear Map
Force Control
Center Manifold
Industrial applications
Parameter Space
Saturation
High Accuracy
Robot
Nonlinearity
Verify
Gain control

Keywords

  • Bifurcation
  • Center manifold reduction
  • Chaos
  • Digital position control
  • Discrete time
  • Robots

ASJC Scopus subject areas

  • Mechanical Engineering
  • Computer Graphics and Computer-Aided Design
  • Computer Science Applications
  • Modelling and Simulation

Cite this

Habib, G., Rega, G., & Stépán, G. (2011). Nonlinear bifurcation analysis of a robotic arm subject to digital position control. In Proceedings of the ASME Design Engineering Technical Conference (PARTS A AND B ed., Vol. 4, pp. 483-492) https://doi.org/10.1115/DETC2011-47832

Nonlinear bifurcation analysis of a robotic arm subject to digital position control. / Habib, Giuseppe; Rega, Giuseppe; Stépán, G.

Proceedings of the ASME Design Engineering Technical Conference. Vol. 4 PARTS A AND B. ed. 2011. p. 483-492.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Habib, G, Rega, G & Stépán, G 2011, Nonlinear bifurcation analysis of a robotic arm subject to digital position control. in Proceedings of the ASME Design Engineering Technical Conference. PARTS A AND B edn, vol. 4, pp. 483-492, ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2011, Washington, DC, United States, 8/28/11. https://doi.org/10.1115/DETC2011-47832
Habib G, Rega G, Stépán G. Nonlinear bifurcation analysis of a robotic arm subject to digital position control. In Proceedings of the ASME Design Engineering Technical Conference. PARTS A AND B ed. Vol. 4. 2011. p. 483-492 https://doi.org/10.1115/DETC2011-47832
Habib, Giuseppe ; Rega, Giuseppe ; Stépán, G. / Nonlinear bifurcation analysis of a robotic arm subject to digital position control. Proceedings of the ASME Design Engineering Technical Conference. Vol. 4 PARTS A AND B. ed. 2011. pp. 483-492
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