0

Full Content is available to subscribers

Subscribe/Learn More  >

On the Stochastic Stability and Observability of Controlled Serial Kinematic Chains

[+] Author Affiliations
Fabio Bonsignorio

Heron Robots, Genova, Italy; Universidad Carlos III de Madrid, Madrid, Spain

Paper No. ESDA2010-25131, pp. 379-386; 8 pages
doi:10.1115/ESDA2010-25131
From:
  • ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis
  • ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis, Volume 5
  • Istanbul, Turkey, July 12–14, 2010
  • Conference Sponsors: International
  • ISBN: 978-0-7918-4919-4 | eISBN: 978-0-7918-3877-8
  • Copyright © 2010 by ASME

abstract

In this paper the stability and observability of a controlled serial kinematic chain are analyzed with reference to a characterization of observability and stability for a stochastic system grounded in the application of Shannon theory to controlled systems. This approach was proposed in 2004 by H. Touchette and S. Lloyd. In particular it is analyzed in depth the case in which errors on the joints follow (concentrated) Gaussian distributions. In this case the property of Lie Groups (and related tangent space Lie algebra), studied from G. Chirikjian et al., allow to carry out the study of stochastic serial kinematic chains in a simplified way and to properly identify stability and observability conditions from a Shannon information standpoint.

Copyright © 2010 by ASME
Topics: Stability , Chain

Figures

Tables

Interactive Graphics

Video

Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

NOTE:
Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In