Chaos and nonlinear control of a nonholonomic free-joint manipulator

Takahiro Suzuki, Masabumi Koinuma, Yoshihiko Nakamura

研究成果: Conference article査読

37 被引用数 (Scopus)

抄録

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.

本文言語English
ページ(範囲)2668-2675
ページ数8
ジャーナルProceedings - IEEE International Conference on Robotics and Automation
3
出版ステータスPublished - 1996 1 1
外部発表はい
イベントProceedings of the 1996 13th IEEE International Conference on Robotics and Automation. Part 1 (of 4) - Minneapolis, MN, USA
継続期間: 1996 4 221996 4 28

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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