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Force measurement time-delays and contact instability phenomenon. (English) Zbl 0936.93031
The paper starts with some models in robot mechanics and control. The main mathematical problem is to guarantee stability of the neutral functional differential equation in the form \[ \dot x(t)+ (\lambda_1-1)\dot x(t-\tau)= -\lambda_2x_2(t- \tau). \] The resolution is then computed in steps and some estimates are given.

93C23 Control/observation systems governed by functional-differential equations
93D15 Stabilization of systems by feedback
93C85 Automated systems (robots, etc.) in control theory
34K35 Control problems for functional-differential equations
Full Text: DOI
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