繰返し運動による1自由関節を有する2リンク平面マニピュレータにおける強制振動現象 Forced Oscillatory Phenomena of a Two-Link Planer Manipulator with a Free Joint under Repetitive Motion
The dynamics of a two-link planer manipulator with a free joint is described by non-linear ordinary differential equations including trigonometric functions. By commanding repetitive tasks, it is estimated that non-linear phenomena including chaotic motions are occurred on the manipulator. In this paper, some dynamical properties are analyzed with bifurcation theories. Moreover, some nonlinear phenomena of the manipulator are investigated with bifurcation diagrams in several parameter planes are calculated using an algorithm based on the geometric approach. In results, by applying a torque to 1st-joint performing repetitive motion, the 2nd-joint of the manipulator exhibits resonant motions, non-resonant motions, rotating motions, and chaotic motions.
システム制御情報学会論文誌 12(10), 596-603, 1999-10-15