Authors:
Claudio Urrea
and
Marcela Jamett
Affiliation:
Universidad de Santiago de Chile (USACH), Chile
Keyword(s):
Planar Robot Model, Chaotic behaviour, Sliding Modes.
Related
Ontology
Subjects/Areas/Topics:
Informatics in Control, Automation and Robotics
;
Modeling, Simulation and Architectures
;
Robot Design, Development and Control
;
Robotics and Automation
Abstract:
Results from simulations of a Planar Robot Model, when it is placed in the same plane of the action of the gravity force are reviewed in this paper. The model includes several parameters usually discarded in current models, such as Driving, and Non-linear Friction, for an industrial-type robotic manipulator and its actuators. When we develop more exact representations of the dynamics of a manipulator and their actuators, chaotic behavior is detected for certain parameter values of the robotic manipulator. This chaotic behavior – without external inputs – was exactly controlled by Sliding Modes.