On nonlinear dynamics and control of a robotic arm with chaos
In this paper a robotic arm is modelled by a double pendulum excited in its base by a DC motor of limited power via crank mechanism and elastic connector. In the mathematical model, a chaotic motion was identified, for a wide range of parameters. Controlling of the chaotic behaviour of the system,...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
EDP Sciences
2014-01-01
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| Series: | MATEC Web of Conferences |
| Online Access: | http://dx.doi.org/10.1051/matecconf/20141605002 |