A study of limit cycles and chaotic motions of a single-link robot manipulator during slow motion

摘要

In this paper, limit cycles and chaotic motions of a single-link robot manipulator moving at low speed are investigated. The dynamic model of the one-link robot manipulator is set up in which various joint frictions are considered. By using thedescribing function of the nonlinear part of the robot control system, stable limit cycles are proven to exist. The chaotic motion is shown via Poincare map. Numerical simulations identify the chaotic zone locates near by the imaginary axis of the complex plane.