Piece-wise stability analysis of nonlinear robot arm via singular perturbations

The method of singular perturbations is applied to the control and stability analysis of robot arms. A robot arm including the actuator dynamics is a typical example of a singularly perturbed system due to the actuator dynamics occurring in a much faster time scale as compared to the manipulator dynamics. A control law based on the fast and the slow control separately is proposed with the addition of weight factors. The stability of such a system after incorporating the control law is studied. A scheme is presented for the stability analysis which involves breaking the system into closely spaced equilibrium points and then studying their stability.<
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