【摘要】 研究了杆件全柔冗余度机器人自运动中的混沌现象。通过有限元方法和拉格朗日方程建立动力学模型。运用混沌数值分析方法中的相图法、Poincare映射法、最大李雅普诺夫(Lyapunov)指数法,发现了该类机器人自运动中存在混沌现象。对一平面3R柔性机器人研究表明,基于雅可比矩阵的伪逆求解运动学逆解,采用典型的PD控制器控制其末端重复跟踪工作空间内的封闭路径,其自运动中存在混沌现象。更多还原

【Abstract】 In this paper,the chaotic self-motion of redundant robot with fully flexible links was studied by dynamic modeling combined with finite element theory and equations of Lagrange,and by use of phase plot,Poincare mapping and the largest Lyapunov exponent.The numerical results for a planner 3R redundant robot with fully flexible links indicates that,when the end-effector of the robot under the PD controller traces a closed-path repeatedly in the workspace,its self-motion is chaotic based on the pseudoinverse of Jacobian method for the inverse kinematics of redundant robot.更多还原