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2011 (Vol. 3, Issue: 09)
Article Information:

Chaotic Self-motion of a Spatial Redundant Robotic Manipulator

Zhifeng Yin and Xinfeng Ge
Corresponding Author:  Zhifeng Yin 

Key words:  Chaos, inverse kinematics, self-motion, spatial redundant robot, , ,
Vol. 3 , (09): 993-999
Submitted Accepted Published
2011 July, 20 2011 September, 07 2011 September, 20

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 manipulatorís 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 manipulatorís inverse kinematics based on pseudo-inverse Jacobian matrix.
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  Cite this Reference:
Zhifeng Yin and Xinfeng Ge, 2011. Chaotic Self-motion of a Spatial Redundant Robotic Manipulator.  Research Journal of Applied Sciences, Engineering and Technology, 3(09): 993-999.
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ISSN (Online):  2040-7467
ISSN (Print):   2040-7459
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