OTHER
Chaotic motion of a planar 2-dof robot
Yong Chen
- Year
- 2002
- Citations
- 6
Abstract
In the paper, numerical methods are applied to the analysis for chaotic phenomena of a planar 2 DOF robot under PD control scheme. By the method of Poincare surface of section and the Lyapunov exponent method, the double cascading bifurcations leading to chaos for the planar 2 DOF robot and the parameter condition for generating chaos are obtained. And therefore it is meaningful to chaos control of 2 DOF robot and other more complicated robot systems.
Keywords
ChaoticPlanarLyapunov exponentControl theory (sociology)RobotCHAOS (operating system)Poincaré mapMathematicsComputer scienceTopology (electrical circuits)
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