Occurrence of Trajectory Chaos and It’s Stabilizing Control Due to Dead Time of a Pneumatic Manipulator
Occurrence of Trajectory Chaos and It’s Stabilizing Control Due to Dead Time of a Pneumatic Manipulator
复制标题
气动机械手死区引起的轨迹混沌的产生及其稳定控制
DOI：
10.1299/jsmec.48.640
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发表时间：
2005
期刊：
影响因子：
--
通讯作者：
T. Asakura
中科院分区：
文献类型：
--
作者：
Yunsheng Li;T. Asakura
本研究针对二连杆气动机械手的研究，从混沌现象的发生以及考虑系统死区时间的情况下，对遵循圆形轨迹的稳定控制展开。一般来说，这种机械手很难遵循期望的轨迹，因为通过长气管传输的气动信号的死区时间常常会在机械手中引起混乱。为了解决此类问题，通过记录轨迹的李亚普诺夫指数来明确混沌行为，并提出一种新的神经网络稳定方法。通过仿真和实验，验证了该方法的混沌发生和稳定的可能性。
This research on a 2-link pneumatic manipulator develops from the occurrence of chaos phenomena and it’s stabilizing control in following a circular trajectory by considering a dead time in the system. In generally it is difficult for this manipulator to follow a desired trajectory, because chaos is often caused in the manipulator with a dead time of the pneumatic signal transmitted through the long air tube. In order to solve this kind of problem, the chaos behavior is made clear by recording the Lyapunov exponent of the trajectory, and a new stabilizing method with a neural network is proposed. Through simulations and the experiment, the occurrence of chaos and the possibility of stabilization are verified by using the proposed method.