- 期刊
- OpenAccess
Chaotic Self-motion of a Spatial Redundant Robotic Manipulator
並列摘要
In this study, a floating spatial robotic manipulator model and kinematic equations are established, Chaos by numerical simulation and analysis of direct observation, time history method, the self-motion state of a spatial 3R redundant robotic manipulator's links has been studied which its end-effector tracking the a plane path of its work space repeatedly for PD controlling by numerical simulation and chaos analysis such as direct observation, Time course approach, phase diagrams and poincare mapping method. The results show that the self-motion is chaotic when solving the robotic manipulator's inverse kinematics based on pseudo-inverse Jacobian matrix.
延伸閱讀
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