Nonlinear Stability Analysis of Manipulators with Random    Disturbances
{'Code': '07030000', 'Directorate': {'Abbreviation': 'ENG', 'LongName': 'Directorate For Engineering'}, 'Division': {'Abbreviation': 'CMMI', 'LongName': 'Div Of Civil, Mechanical, & Manufact Inn'}}
{'SignBlockName': 'Elbert L. Marsh', 'PO_EMAI': None, 'PO_PHON': None}
This project investigates the stability characteristics of                      realistic  robot manipulator models in the presence of random                   disturbances.  Characteristics which are often neglected but will               be included here are  servomotor dry friction, backlash and                     saturation, and coupling moments  between links.  Modeling of the               system is done using the method of  random-plus-sinusoid                        describing functions.  The model is used to look at the stability               issues.  An experimental phase of the project tests the theory                  with real hardware.  Once the stability character of the system                 is known, this information is used in the controller design to                  preclude instability and thus improve the safety and reliability                of industrial robots.
{'FirstName': 'Ismael', 'LastName': 'Castelazo', 'PI_MID_INIT': 'A', 'PI_SUFX_NAME': None, 'PI_FULL_NAME': 'Ismael A Castelazo', 'EmailAddress': None, 'NSF_ID': '000102498', 'StartDate': '05/15/1987', 'EndDate': None, 'RoleCode': 'Principal Investigator'}
{'Name': 'Arizona State University', 'CityName': 'TEMPE', 'ZipCode': '852813670', 'PhoneNumber': '4809655479', 'StreetAddress': '660 S MILL AVENUE STE 204', 'StreetAddress2': None, 'CountryName': 'United States', 'StateName': 'Arizona', 'StateCode': 'AZ', 'CONGRESSDISTRICT': '04', 'CONGRESS_DISTRICT_ORG': 'AZ04', 'ORG_UEI_NUM': 'NTLHJXM55KZ6', 'ORG_LGL_BUS_NAME': 'ARIZONA STATE UNIVERSITY', 'ORG_PRNT_UEI_NUM': None}
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{'Code': '1445', 'Text': 'DYNAMICS & CONTROL'}
{'url': 'https://www.nsf.gov/awardsearch/download?DownloadFileName=1986&All=true', 'xml': '8620280.xml'}