Stability of the robotic system with time delay in open kinematic chain configuration

Abstract

In this article, stability of the robotic manipulator with time delay in open kinematic chain configuration was analyzed. The dynamic equations of motions were derived for one five-degree-of-freedom (DOF) robotic system with system latency. The mathematical model includes the model of the actuators to define the parameters of the actuators that can stabilize such a system. Investigation of the system stability was performed using novel stability conditions. The system state responses and the system stability were analyzed for different time delays. The proposed control methodology was shown to be appropriate to maintain the stability of the robotic system during tracking tasks. To analyze the concept, we presented a numerical example together with an extensive system simulation. The stability analysis showed the full compliance of the system behavior with the desired system dynamics. The proposed method can be used for the stability analysis of any robotic system with state delays in the open kinematic chain configuration.