Title :
Phase space of self-motion and mechanism path tracking
Author :
A. Machmudah;S. Parman;M. B Baharom
Author_Institution :
Mechanical Engineering Department, Universiti Teknologi PETRONAS, Perak, Malaysia
Abstract :
This paper investigates dynamics behaviors of self motion and path tracking of manipulator. The system contains three sets of nonlinear Ordinary Differential Equations (ODE). Algorithm to solve the ODEs system will be presented. The behavior of the system will be observed using phase space graph. Homoclinic and heteroclinic orbits present in the phase space graphs.
Keywords :
"Trajectory","Manipulator dynamics","Upper bound","Acceleration","Couplings","Mathematical model"
Conference_Titel :
Technology, Informatics, Management, Engineering & Environment (TIME-E), 2015 International Conference on
DOI :
10.1109/TIME-E.2015.7389751
