Chaos and nonlinear control of a nonholonomic free-joint manipulator

Takahiro Suzuki, Masabumi Koinuma, Yoshihiko Nakamura

Research output: Contribution to journalConference articlepeer-review

38 Citations (Scopus)


Nonholonomic system is now one of 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.

Original languageEnglish
Pages (from-to)2668-2675
Number of pages8
JournalProceedings - IEEE International Conference on Robotics and Automation
Publication statusPublished - 1996 Jan 1
Externally publishedYes
EventProceedings of the 1996 13th IEEE International Conference on Robotics and Automation. Part 1 (of 4) - Minneapolis, MN, USA
Duration: 1996 Apr 221996 Apr 28

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering


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