Title :
From stable to chaotic juggling: theory, simulation, and experiments
Author :
Bühler, M. ; Koditschek, D.E.
Author_Institution :
Center for Syst. Sci., Yale Univ., New Haven, CT, USA
Abstract :
Recent results of dynamical systems theory are used to derive strong predictions concerning the global properties of a simplified model of a planar juggling robot. In particular, it is found that certain lower-order local (linearized) stability properties determine the essential global (nonlinear) stability properties, and that successive increments in the controller gain settings give rise to a cascade of stable period-doubling bifurcations that comprise a universal route to chaos. The theoretical predictions are verified by simulation and corroborated by experimental data from the juggling robot
Keywords :
chaos; dynamics; robots; stability; chaotic juggling; controller gain settings; dynamical systems theory; planar juggling robot; stability; stable juggling; stable period-doubling bifurcations; Bifurcation; Chaos; Feedback control; Mirrors; Motion analysis; Predictive models; Robot control; Robust control; Stability analysis; Sufficient conditions;
Conference_Titel :
Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on
Conference_Location :
Cincinnati, OH
Print_ISBN :
0-8186-9061-5
DOI :
10.1109/ROBOT.1990.126296
