On the Output Motion of PMSM Driving a Planar Underactuated 2R Manipulator

被引：0
|
作者：
Xie, Jin [1 ]
Zhang, Shicong [2 ]
Liu, Zhaohui [1 ]
机构：
[1] Southwest Jiaotong Univ, Sch Mech Engn, Chengdu 610031, Peoples R China
[2] Patient Examinat Cooperat Sichuan Ctr, Patinet Off, Chengdu 610213, Peoples R China
来源：
MECHANISM AND MACHINE SCIENCE | 2017年 / 408卷
基金：
中国国家自然科学基金;
关键词：
Nonlinear dynamics; PMSM; Planer underactuated 2R manipulator; Chaos controlling; MAGNET SYNCHRONOUS MOTOR; CHAOS; PENDUBOT;
D O I：
10.1007/978-981-10-2875-5_22
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, a PMSM is connected to a planar underactuated 2R manipulator. Both two systems are nonlinear dynamic systems. It is deserted to learn the influence of coupling of nonlinear systems on the motion of the system. The coupling dynamic model is established, and simulation is carried out. The result shows that the coupling of nonlinear dynamic system certainly makes the bifurcation point changed, and even more disappeared. In addition to this, the coupling of nonlinear system intensifies the chaotic motion.
引用
收藏
页码：261 / 269
页数：9
相关论文
共 48 条
  • [1] Stabilization of an underactuated planar 2R manipulator
    De Luca, A
    Mattone, R
    Oriolo, G
    [J]. INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, 2000, 10 (04) : 181 - 198
  • [2] Control of A 2R Planar Horizontal Underactuated Manipulator
    Chen, Tan
    Goodwine, Bill
    [J]. 16TH IEEE INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION, ROBOTICS AND VISION (ICARCV 2020), 2020, : 925 - 931
  • [3] Trajectory planning and control of an underactuated planar 2R manipulator
    Rosas-Flores, JA
    Alvarez-Gallegos, J
    Castro-Linares, R
    [J]. PROCEEDINGS OF THE 2001 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS (CCA'01), 2001, : 548 - 552
  • [4] Characteristics analysis and stabilization of a planar 2R underactuated manipulator
    He, Guang-Ping
    Wang, Zhi-Lue
    Zhang, Jie
    Geng, Zhi-Yong
    [J]. ROBOTICA, 2016, 34 (03) : 584 - 600
  • [5] Stabilization of underactuated robots: Theory and experiments for a planar 2R manipulator
    DeLuca, A
    Mattone, R
    Oriolo, G
    [J]. 1997 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION - PROCEEDINGS, VOLS 1-4, 1997, : 3274 - 3280
  • [6] Point-to-point control of a 2R planar horizontal underactuated manipulator
    Mahindrakar, Arun D.
    Rao, Shodhan
    Banavar, R. N.
    [J]. MECHANISM AND MACHINE THEORY, 2006, 41 (07) : 838 - 844
  • [7] Control of 2R underactuated manipulator with friction
    Suzuki, T
    Miyoshi, W
    Nakamura, Y
    [J]. PROCEEDINGS OF THE 37TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-4, 1998, : 2007 - 2012
  • [8] Control of underactuated mechanical systems: Application to the planar 2R robot
    DeLuca, A
    Mattone, R
    Oriolo, G
    [J]. PROCEEDINGS OF THE 35TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-4, 1996, : 1455 - 1460
  • [9] Controllability properties of a planar 3R underactuated manipulator
    Mahindrakar, AD
    Banavar, RN
    [J]. PROCEEDINGS OF THE 2002 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS, VOLS 1 & 2, 2002, : 489 - 494
  • [10] Hierarchical Sliding Mode Control of Planar 2R Under-actuated Manipulator
    Liu, Zongming
    Li, Hong
    [J]. INTERNATIONAL CONFERENCE ON CONTROL SYSTEM AND AUTOMATION (CSA 2013), 2013, : 108 - 113
12345