Method of the analysis of variations in the dynamical system potential energy aiming at the stability analysis of characteristic points

A method of the stability analysis of critical points of dynamical systems, based on equations of the so-called potential energy of perturbations, has been proposed. This method has been called the method of potential energy perturbation analysis. Its essence consists in formulation of relations and an analysis of changes in the potential energy of a perturbation of any number of generalised coordinates of the dynamical system. An example of the application of this method to analyse the stability in vicinities of characteristic points of a sample dynamical system in the form of a robot manipulator has been also shown.