On the uniform boundedness of the Coriolis/centrifugal terms in the robot equations of motion

摘要

In the stability analysis of many control laws, the Coriolis/centrifugal terms are assumed to be uniformly bounded. This assumption however, is not valid for all robot manipulators. For those robot manipulators that do not satisfy the uniform boundedness property, the stability of several control laws becomes local. Therefore, for the implementation of these control laws, it is important to know whether the Coriolis/centrifugal terms are uniformly bounded or not for a given robot manipulator. In this paper we fully characterize the class of robot manipulators for which the Coriolis/centrifugal terms are uniformly bounded, and propose, for robot manipulators of this class, a scheme for computing the bound. The explicit value of this bound is necessary in controller synthesis since the parameters of many control laws use it directly.