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Related Experiment Videos

Controlling chaotic robots with kinematical redundancy.

Li Li1, Zhaohui Liu, Dengcai Zhang

  • 1School of Mechanical Engineering of Southwest Jiaotong University, Chengdu 610031, People's Republic of China. lily1cn@yahoo.com.cn

Chaos (Woodbury, N.Y.)
|April 8, 2006
PubMed
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Researchers controlled chaotic robot motions using a delayed feedback method. This technique transforms erratic joint movements into regular, repeatable motion for redundant robots.

Area of Science:

  • Robotics
  • Control Theory
  • Nonlinear Dynamics

Background:

  • Kinematically redundant robots often exhibit chaotic joint motion under pseudoinverse control.
  • This chaotic behavior leads to unpredictable and erratic robot performance, hindering precise task execution.

Purpose of the Study:

  • To investigate the effectiveness of the delayed feedback method in controlling chaotic motions of redundant robots.
  • To address the repeatability problem in redundant manipulators.

Main Methods:

  • Applied the delayed feedback control method to planar 3R rigid and flexible redundant robots.
  • Simulated end-effector tracing of closed paths in the workspace under pseudoinverse control.

Main Results:

Related Experiment Videos

  • Demonstrated that chaotic joint motions can be converted into regular, predictable motion.
  • Showcased the successful application of the delayed feedback method with appropriate parameters.

    • Conclusions:

    • The delayed feedback method is a viable strategy for stabilizing chaotic dynamics in redundant robots.
    • This approach offers a novel solution for enhancing the repeatability and reliability of redundant manipulators.