Chaotic motion of a planar 2-dof robot

摘要

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.