文章基本信息

标题：A model-based velocity controller for chaotization of flexible joint robot manipulators: Synthesis, analysis, and experimental evaluations
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作者：Roger Miranda-Colorado ; Luis T Aguilar ; J Moreno-Valenzuela 等
期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2018
卷号：15
期号：5
DOI：10.1177/1729881418802528
出版社：SAGE Publications
摘要：This article presents a model-based velocity controller able to induce a chaotic motion on n-degrees of freedom flexible joint robot manipulators. The proposed controller allows the velocity link vector of a robot manipulator to track an arbitrary, chaotic reference vector field. A rigorous theoretical analysis based on Lyapunov’s theory is used to prove the asymptotic stability of the tracking error signals when using the proposed controller, which implies that a chaotic motion is induced to the robotic system. Experimental results are provided using a flexible joint robot manipulator of two degrees of freedom. Finally, by using Poincaré maps and Lyapunov exponents, it is shown that the behavior exhibited by the robot joint positions is chaotic.
关键词：Flexible joint ; robot manipulators ; chaos ; chaotization ; model-based control ; real-time experiments