Title :
Complex behaviors of a two revolute joints robot: harmonic, subharmonic, higher harmonic, fractional harmonic, chaotic responses
Author :
Mahout, V. ; Lopez, P. ; Carcassés, J.P. ; Mira, C.
Author_Institution :
Lab. d´´Etudes des Syst. Inf. et Autom., DGE-INSAT, Toulouse, France
Abstract :
This paper deals with the complex behavior which can appear in the dynamics structure of a two revolute joint robot controlled with a PD control law. Different mathematical tools have been used and the obtained results are presented as well in the phase space (the continuous one and the discrete one associated with the Poincare´s map) as in a parameter plane (for obtaining the bifurcation properties)
Keywords :
Poincare mapping; bifurcation; mobile robots; nonlinear dynamical systems; parameter estimation; robot dynamics; two-term control; PD control law; Poincare´s map; SCARA robot; bifurcation properties; chaotic responses; complex behavior; dynamics structure; fractional harmonic; harmonic; higher harmonic; mathematical tools; parameter identification; parameter plane; phase space; subharmonic; two revolute joint robot; Chaos; Control systems; Lagrangian functions; Nonlinear dynamical systems; Orbital robotics; PD control; Resonance; Robot control; Robotics and automation; Sampling methods;
Conference_Titel :
Systems, Man and Cybernetics, 1993. 'Systems Engineering in the Service of Humans', Conference Proceedings., International Conference on
Conference_Location :
Le Touquet
Print_ISBN :
0-7803-0911-1
DOI :
10.1109/ICSMC.1993.390849
