Chaos and nonlinear control of a nonholonomic free-joint manipulator

Author

Suzuki, Takahiro ; Koinuma, Masabumi ; Nakamura, Yoshihiko

Author_Institution

Dept. of Mech. Inf., Tokyo Univ., Japan

Volume

3

fYear

1996

fDate

22-28 Apr 1996

Firstpage

2668

Abstract

Nonholonomic system is now one of the major topics in robotics. In this paper, we discuss the nonlinear behavior of a two-joint planer manipulator with the second joint free for time-periodic inputs. First, we illustrate that when the amplitude remains small, the Poincare map of the system follows an ellipse-like closed path and it becomes chaotic with large amplitude. We then propose a control method to position the both joints via amplitude modulation of the position error. The effectiveness and robustness of the control method are verified by experiments

Keywords

Poincare mapping; amplitude modulation; chaos; feedback; manipulator dynamics; nonlinear control systems; position control; robust control; Poincare map; amplitude modulation; chaos; ellipse-like closed path; elliptic trajectory; feedback stabilization; nonholonomic system; nonlinear control; position control; position error; two-joint planer manipulator; Chaos; Control systems; Control theory; Equations; Frequency; Manipulator dynamics; Motion control; Nonlinear control systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on

Conference_Location

Minneapolis, MN

ISSN

1050-4729

Print_ISBN

0-7803-2988-0

Type

conf

DOI

10.1109/ROBOT.1996.506565

Filename

506565