Home           Contact us           FAQs           
 
   Journal Page   |   Aims & Scope   |   Author Guideline   |   Editorial Board   |   Search
    Abstract
2011 (Vol. 3, Issue: 09)
Article Information:

Chaotic Self-motion of a Spatial Redundant Robotic Manipulator

Zhifeng Yin and Xinfeng Ge
Corresponding Author:  Zhifeng Yin 

Key words:  Chaos, inverse kinematics, self-motion, spatial redundant robot, , ,
Vol. 3 , (09): 993-999
Submitted Accepted Published
2011 July, 20 2011 September, 07 2011 September, 20
Abstract:

In this study, a floating spatial robotic manipulator model and kinematic equations are established, Chaos by numerical simulation and analysis of direct observation, time history method, the self-motion state of a spatial 3R redundant robotic manipulatorís links has been studied which its end-effector tracking the a plane path of its work space repeatedly for PD controlling by numerical simulation and chaos analysis such as direct observation, Time course approach, phase diagrams and poincare mapping method. The results show that the self-motion is chaotic when solving the robotic manipulatorís inverse kinematics based on pseudo-inverse Jacobian matrix.
Abstract PDF HTML
  Cite this Reference:
Zhifeng Yin and Xinfeng Ge, 2011. Chaotic Self-motion of a Spatial Redundant Robotic Manipulator.  Research Journal of Applied Sciences, Engineering and Technology, 3(09): 993-999.
    Advertise with us
 
ISSN (Online):  2040-7467
ISSN (Print):   2040-7459
Submit Manuscript
   Current Information
   Sales & Services
   Contact Information
  Executive Managing Editor
  Email: admin@maxwellsci.com
  Publishing Editor
  Email: support@maxwellsci.com
  Account Manager
  Email: faisalm@maxwellsci.com
  Journal Editor
  Email: admin@maxwellsci.com
  Press Department
  Email: press@maxwellsci.com
Home  |  Contact us  |  About us  |  Privacy Policy
Copyright © 2009. MAXWELL Science Publication, a division of MAXWELLl Scientific Organization. All rights reserved