Chaotic Motion of a Planar 3R Redundant Robot With Obstacle Avoidance

Abstract

The chaotic self-motions of the planar 3R and 4R rigid redundant robots are discovered under the resolved motion control when the end-effector traces a closed-path repeatedly,based on the numerical simulation,phase plot,and the largest Lyapunov exponent.It is shown that the self-motion is regular if the resolved motion rate control method is used;while the self-motion is chaotic,if the resolved acceleration control method is used.