Biomechanics Research Today is a free monthly online journal that collates and summarizes the latest research about Biomechanics, including details on mechanics of living organisms, movement, locomotion, prosthetic limbs.

Controlling chaotic robots with kinematical redundancy.

Li L, Liu Z, Zhang D, Zhang H

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

Robots with kinematical redundancy under the pseudoinverse control exhibit undesirable chaotic joint motion, which leads to erratic behaviors. In this study, we used the delayed feedback method to control chaotic motions of a planar 3R rigid and a planar 3R flexible redundant robot under the pseudoinverse control when the end-effector traces a closed-path repeatedly in the work space. It was demonstrated that chaotic motions of robots with kinematical redundancy can be turned into regular motion when the delayed feedback method was applied with some appropriate parameters. This study provides a new insight helpful to solve the repeatability problem of redundant manipulators.

Published 7 April 2006 in Chaos, 16(1): 013132.
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