自由関節を有する平面マニピュレータにおける非線形現象 Nonlinear Phenomena on a Two-LInk Planer Manipulator with a Free Joint

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The dynamics of a manipulator with free joints is described by nonlinear ordinary differential equations with nonintegrable differential constraints. Such a dynamical system cannot be converted to a linear system using an exact linearization method such as the computed torque method. Control methods using nonlinear properties of such a system are studied in many fields of robotics. In this paper, we consider behavior of the free link on a two-link planer manipulator under commanding repetitive tasks to the actuated link. As previous reported, we numerically observed some periodic motions and chaotic states as a steady state on the manipulator. Computing bifurcation diagrams and basins of attraction for typical periodic motions, we investigate a relation between the viscous friction of the free joint and bifurcation phenomena on the manipulator. We also observe some periodic motions on an experimental manipulator system.

収録刊行物

  • システム制御情報学会論文誌  

    システム制御情報学会論文誌 13(8), 369-376, 2000-08-15 

    一般社団法人 システム制御情報学会

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各種コード

  • NII論文ID(NAID)
    10004473330
  • NII書誌ID(NCID)
    AN1013280X
  • 本文言語コード
    JPN
  • 資料種別
    ART
  • ISSN
    13425668
  • NDL 記事登録ID
    5438383
  • NDL 雑誌分類
    ZM11(科学技術--科学技術一般--制御工学)
  • NDL 請求記号
    Z14-195
  • データ提供元
    CJP書誌  NDL  J-STAGE 
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