The dynamics characteristics of the robotic arm system are usually highly nonlinear and strongly coupling,which will make it difficult to analyze the stability by the methods of solving kinetic equations or constructi...The dynamics characteristics of the robotic arm system are usually highly nonlinear and strongly coupling,which will make it difficult to analyze the stability by the methods of solving kinetic equations or constructing Lyapunov function,especially,these methods cannot calculate the quantitative relationship between mechanical structures or control input and dynamics parameters and stability.The theoretical analysis process from symbol dynamics modeling of the robotic arm system to the movement stability is studied by using the concept of Lyapunov exponents method. To verify the algorithm effectiveness,the inner relation between its joint input torque and stability or chaotic and stable motion of the 2-DOF robotic arm system is analyzed quantitatively. As compared with its counterpart of Lyapunov's direct method,the main advantage of the concept of Lyapunov exponents is that the methods for calculating the exponents are constructive to provide an effective analysis tool for analyzing robotic arm system movement stability of nonlinear systems.展开更多
基金Supported by the National Natural Science Foundation of China(No.51405243,51575283)
文摘The dynamics characteristics of the robotic arm system are usually highly nonlinear and strongly coupling,which will make it difficult to analyze the stability by the methods of solving kinetic equations or constructing Lyapunov function,especially,these methods cannot calculate the quantitative relationship between mechanical structures or control input and dynamics parameters and stability.The theoretical analysis process from symbol dynamics modeling of the robotic arm system to the movement stability is studied by using the concept of Lyapunov exponents method. To verify the algorithm effectiveness,the inner relation between its joint input torque and stability or chaotic and stable motion of the 2-DOF robotic arm system is analyzed quantitatively. As compared with its counterpart of Lyapunov's direct method,the main advantage of the concept of Lyapunov exponents is that the methods for calculating the exponents are constructive to provide an effective analysis tool for analyzing robotic arm system movement stability of nonlinear systems.
