Stabilization of Single-Link Manipulator Robot under Stochastic Perturbations
Alexandra Rodkina, Xuerong Mao
We consider the control circuit for single-link manipulator robot constructed on proportional-differential controller. We obtain sufficient conditions for the asymptotic stability of control system under various random perturbations. We find out the values of control parameters and the restrictions on the noises that ensure the transition of the loaded claw into the (-neighbourhood of the equilibrium state in time T with given reliability (>0. We also present a computer simulation of the motion of robot hand for a real robot-manipulator.
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