DocumentCode
2861444
Title
Analysis of the dynamics of an underactuated robot: the forced pendubot
Author
Alvarez-Gallegos, Jaime ; Alvarez-Gallegos, Jaime ; Gonzalez-Hernandez, H.G.
Author_Institution
Dept. de Ingenieria Electrica, CINVESTAV-IPN, Mexico City, Mexico
Volume
2
fYear
1997
fDate
10-12 Dec 1997
Firstpage
1494
Abstract
The reconstruction of attractors based on time series obtained from a two-link, planar, underactuated robot called “pendubot” is developed. Time-delay coordinates, average mutual information, and global false nearest neighbors´ methods are used to reconstruct the invariant sets. It is shown that, under the action of a periodic torque, a pendubot can display a variety of steady-state dynamics, including strange attractors
Keywords
chaos; robot dynamics; time series; average mutual information; forced pendubot; global false nearest neighbors´ methods; invariant sets; periodic torque; steady-state dynamics; strange attractors; time series; time-delay coordinates; two-link planar underactuated robot; underactuated robot; Chaos; Displays; Manipulator dynamics; Mutual information; Orbital robotics; Robot kinematics; Steady-state; Telecommunication control; Time measurement; Torque;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1997., Proceedings of the 36th IEEE Conference on
Conference_Location
San Diego, CA
ISSN
0191-2216
Print_ISBN
0-7803-4187-2
Type
conf
DOI
10.1109/CDC.1997.657679
Filename
657679
Link To Document