Stable and unstable quasiperiodic oscillations in robot dynamics

G. Stepan, G. Haller

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Delays in robot control may result in unexpectedly sophisticated nonlinear dynamical behavior. Experiments on force controlled robots frequently show periodic and quasiperiodic oscillations which cannot be explained without including the time lag and/or the sampling time of the system in our models. Delayed systems, even of low degree of freedom, can produce phenomena which are already well understood in the theory of nonlinear dynamical systems but hardly ever occur in simple mechanical models. To illustrate this, we analyze the delayed positioning of a single degree of freedom robot arm. The analytical results show typical nonlinear behavior in the system which may go through a codimension two Hopf bifurcation for an infinite set of parameter values, leading to the creation of two-tori in the phase space. These results give a qualitative explanation for the existence of self-excited quasiperiodic oscillations in the dynamics of force controlled robots.

Original languageEnglish
Title of host publicationDynamics and Vibration of Time-Varying Systems and Structures
EditorsMo Shahinpoor, H.S. Tzou
PublisherPubl by ASME
Pages279-286
Number of pages8
ISBN (Print)0791811735
Publication statusPublished - Dec 1 1993
Event14th Biennial Conference on Mechanical Vibration and Noise - Albuquerque, NM, USA
Duration: Sep 19 1993Sep 22 1993

Publication series

NameAmerican Society of Mechanical Engineers, Design Engineering Division (Publication) DE
Volume56

Other

Other14th Biennial Conference on Mechanical Vibration and Noise
CityAlbuquerque, NM, USA
Period9/19/939/22/93

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ASJC Scopus subject areas

  • Engineering(all)

Cite this

Stepan, G., & Haller, G. (1993). Stable and unstable quasiperiodic oscillations in robot dynamics. In M. Shahinpoor, & H. S. Tzou (Eds.), Dynamics and Vibration of Time-Varying Systems and Structures (pp. 279-286). (American Society of Mechanical Engineers, Design Engineering Division (Publication) DE; Vol. 56). Publ by ASME.