DocumentCode
2042489
Title
Chaos dynamics in the trajectory control of redundant manipulators
Author
Duarte, Fernando B M ; Machado, J. A Tenreiro
Author_Institution
Dept. of Math., Polytech. Inst. of Viseu, Portugal
Volume
4
fYear
2000
fDate
2000
Firstpage
4109
Abstract
Several kinematic control algorithms for redundant manipulators adopt generalized inverse matrices. In this line of thought, the generalized inverse control scheme is tested through experiments that reveal the difficulties that often arise. Motivated by these problems this paper studies kinematics and dynamics of the trajectory planning scheme. The experiment confirm the nonlinear and chaotic performance of the algorithm and gives a deeper insight towards the future development of superior trajectory control systems
Keywords
chaos; inverse problems; manipulator dynamics; matrix algebra; nonlinear control systems; redundant manipulators; chaos dynamics; generalized inverse matrices; inverse control scheme; kinematic control algorithms; nonlinear performance; redundant manipulators; trajectory control; trajectory planning scheme dynamics; Chaos; Control systems; End effectors; Kinematics; Manipulator dynamics; Mathematics; Nonlinear control systems; Robots; Testing; Trajectory;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location
San Francisco, CA
ISSN
1050-4729
Print_ISBN
0-7803-5886-4
Type
conf
DOI
10.1109/ROBOT.2000.845372
Filename
845372
Link To Document