書誌事項
- タイトル別名
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- Forced Oscillatory Phenomena of a Two-Link Planer Manipulator with a Free Joint under Repetitive Motion
- クリカエシ ウンドウ ニ ヨル 1 ジユウ カンセツ オ ユウスル 2 リンク ヘイメン マニピュレータ ニ オケル キョウセイ シンドウ ゲンショウ
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説明
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.
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 12 (10), 596-603, 1999
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
- 1390282680142346112
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- NII論文ID
- 10004473590
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- NII書誌ID
- AN1013280X
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- ISSN
- 2185811X
- 13425668
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- NDL書誌ID
- 4870206
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可
