一种冗余度机器人零空间中的混沌
Chaotic Self-motion of Redundant Robot in Null Space
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摘要: 基于反馈线性化控制理论,推导出了平面3R刚性冗余度机器人的零动态方程.通过Poincare映射图和 采用最大Lyapunov指数方法,对平面3R刚性冗余度机器人零空间运动状态(规则或混沌运动)进行了数值模拟, 获得了它的自运动状态与其零空间中的矢量之间的关系.研究结果表明,冗余度机器人自运动中的混沌现象不 仅与初始条件有关,也与其零空间中的矢量有直接关系.Abstract: Based on the control theoryof feedback linearization, the zero dynamics equation for a planar3R rigid redundant robotwas derived. Using Poincare maps and Lyapunov exponents, the motion state(regular or chaotic motion) of the redundant robotwas numerically simulated, and the relationship between its self- motion state and its vectors in the null space was obtained. The research result shows that the chaotic self- motion of a redundant robot is influenced by the initial conditions and has a direct relationwith its victors in the null space.
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Key words:
- chaos /
- redundant robot /
- null space /
- zero dynamics
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