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Abstract

The primary importance of the paper is the application of the efficient formulation for the simulation of open-loop lightweight robotic manipulator. The framework employed in the paper makes use of the spatial operator algebra and the associated equations are expressed in joint space. This compact representation of the manipulator dynamics makes it possible to solve the robot forward and inverse dynamics problems in a recursive and fast manner. In the current form, the presented algorithm can be applied for the dynamics simulation of an open-loop chain system possessing any number of joints. Specifically, the formulation has been successfully applied for the analysis of the 7DOF KUKA LWR robot. Results from a number of test cases for the robot demonstrate the verification of the calculations.

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Authors and Affiliations

Łukasz Woliński
Paweł Malczyk

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Abstract

It is shown how a stability test, alternative to the classical Routh test, can profitably be applied to check the presence of polynomial roots inside half-planes or even sectors of the complex plane. This result is obtained by exploiting the peculiar symmetries of the root locus in which the basic recursion of the test can be embedded. As is expected, the suggested approach proves useful for testing the stability of fractional-order systems. A pair of examples show how the method operates. It is believed that the suggested geometric approach can also be of some didactic value in introducing basic control-system tools to engineering students.
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Authors and Affiliations

Daniele Casagrande
1
Wiesław Krajewski
2
Umberto Viaro
1

  1. Polytechnic Department of Engineering and Architecture, University of Udine, via delle Scienze 206, 33100 Udine, Italy
  2. Systems Research Institute, Polish Academy of Sciences, ul. Newelska 6, 01–447 Warsaw, Poland

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