Chaotic zero dynamics in kinematically redundant robots

Author

Varghese, Matthew ; Fuchs, Andreas ; Mukundan, Rangaswamy

Author_Institution

Dept. of Electr. & Comput. Eng., Clarkson Univ., Potsdam, NY, USA

Volume

27

Issue

5

fYear

1991

fDate

9/1/1991 12:00:00 AM

Firstpage

784

Lastpage

796

Abstract

The authors attempt to integrate two areas in robotics that are maturing rapidly: the control of kinematically redundant rigid robots and feedback linearization. Kinematically redundant robots have several advantages over nonredundant robot arms. The extra degrees of freedom are used to reach around or between obstacles. Unlike nonredundant rigid link robots that do not exhibit zero dynamics, the self motions of kinematically redundant robots can be used for torque optimization or avoiding obstacles. It is shown that induced self motions can be chaotic. The main contribution is to demonstrate chaos in cases of feedback linearization when the decoupling matrix is nonsquare and there are less outputs than inputs

Keywords

feedback; linearisation techniques; optimisation; redundancy; robots; chaotic zero dynamics; control; decoupling matrix; feedback linearization; induced self motions; kinematically redundant robots; local diffeomorphisms; nonsquare matrix; obstacles; rigid robots; self motions; torque optimization; Aerodynamics; Chaos; End effectors; Linear feedback control systems; Linear systems; Nonlinear dynamical systems; Orbital robotics; Robot kinematics; State-space methods; Torque;

fLanguage

English

Journal_Title

Aerospace and Electronic Systems, IEEE Transactions on

Publisher

ieee

ISSN

0018-9251

Type

jour

DOI

10.1109/7.97324

Filename

97324