Nonlinear Phenomena on a Two-Link Planer Manipulator with a Free Joint

• FUJIMOTO Ken-ichi

  Anan College of Technology

• TANAKA Yoshio

  Shikoku National Industrial Research Institute

• KAWAKAMI Hiroshi

  Faculty of Engineering, The University of Tokushima

Bibliographic Information

Other Title

• 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
• ジユウ カンセツ オ ユウスル ヘイメン マニピュレータ ニ オケル ヒセンケイ ゲンショウ

Abstract

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.

Journal

• Transactions of the Institute of Systems, Control and Information Engineers

  Transactions of the Institute of Systems, Control and Information Engineers 13 (8), 369-376, 2000

  THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE)

Keywords

• planer manipulator
• free joint
• viscous friction
• bifurcation
• basin of attraction

Details

• CRID: 1390282680141947520
• NII Article ID: 10004473330
• NII Book ID: AN1013280X
• DOI: 10.5687/iscie.13.8_369
• ISSN: 2185811X
• ISSN: 13425668
• NDL BIB ID: 5438383
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I5438383
• Data Source:
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  • NDL
  • Crossref
  • CiNii Articles
• Abstract License Flag: Disallowed