A study of limit cycles and chaotic motions of a single-link robot manipulator during slow motion

Author

Wang, Dalong ; Liu, Yan ; Meng, Max

Author_Institution

Dept. of Electr. & Comput. Eng., Alberta Univ., Edmonton, Alta., Canada

Volume

2

fYear

1999

fDate

6/21/1905 12:00:00 AM

Firstpage

884

Abstract

In this paper, limit cycles and chaotic motion of a single-link robot manipulator moving at low speed are investigated. The dynamic model of the one-link robot manipulator is set up in which different joint friction is considered. By using the describing function of the nonlinear part of the robot control system, stable limit cycles are proven to exist. The chaotic motion is shown via a Poincare map. Numerical simulations identify the chaotic zone location near the imaginary axis of the complex plane

Keywords

Poincare mapping; chaos; friction; limit cycles; manipulator dynamics; numerical analysis; Poincare map; chaotic motion; chaotic zone location; describing function; dynamic mode; joint friction; limit cycles; low speed; nonlinear part; numerical simulation; single-link robot manipulator; slow motion; stable limit cycles; Chaos; Control system synthesis; Friction; Limit-cycles; Manipulator dynamics; Nonlinear dynamical systems; Robot control; Robot sensing systems; Service robots; Torque;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man, and Cybernetics, 1999. IEEE SMC '99 Conference Proceedings. 1999 IEEE International Conference on

Conference_Location

Tokyo

ISSN

1062-922X

Print_ISBN

0-7803-5731-0

Type

conf

DOI

10.1109/ICSMC.1999.825378

Filename

825378