RoManSy 6 pp 177-183 | Cite as

The Role of Delay in Robot Dynamics

  • G. Stépán


Delayed feedback in the control of robots may cause stability problems. Analytical investigations of this effect cannot be found in the literature of robotics. This paper provides a stability criterion which is a basis for the construction of stability charts for parameters of robots with 2÷3 degrees of freedom (DOF). In the case of more DOF the criterion provides simple estimates for the stable regions in the parameter space and it may also serve as a basis for numerical methods. The paper gives examples which are the first results of this research.


Stable Region Stability Criterion Robot Manipulator Robot Dynamics Reflective Manipulator 
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Copyright information

© Hermes, Paris 1987

Authors and Affiliations

  • G. Stépán
    • 1
  1. 1.Department of Mechanical EngineeringTechnical University of BudapestBudapestHungary

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