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.
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ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis
July 12–14, 2010
Istanbul, Turkey
Conference Sponsors:
- International
ISBN:
978-0-7918-4919-4
PROCEEDINGS PAPER
On the Stochastic Stability and Observability of Controlled Serial Kinematic Chains
Fabio Bonsignorio
Fabio Bonsignorio
Heron Robots, Genova, Italy; Universidad Carlos III de Madrid, Madrid, Spain
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Fabio Bonsignorio
Heron Robots, Genova, Italy; Universidad Carlos III de Madrid, Madrid, Spain
Paper No:
ESDA2010-25131, pp. 379-386; 8 pages
Published Online:
December 28, 2010
Citation
Bonsignorio, F. "On the Stochastic Stability and Observability of Controlled Serial Kinematic Chains." Proceedings of the 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. pp. 379-386. ASME. https://doi.org/10.1115/ESDA2010-25131
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