書誌事項
- タイトル別名
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- Nonlinear Phenomena on a Two-Link Planer Manipulator with a Free Joint
- 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
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説明
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
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- システム制御情報学会論文誌
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システム制御情報学会論文誌 13 (8), 369-376, 2000
一般社団法人 システム制御情報学会
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詳細情報 詳細情報について
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- CRID
- 1390282680141947520
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- NII論文ID
- 10004473330
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- NII書誌ID
- AN1013280X
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- ISSN
- 2185811X
- 13425668
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- NDL書誌ID
- 5438383
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- データソース種別
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- JaLC
- NDL
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- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可
