Study the micro chaotic phenomena and its control of rigid-flexible robot

被引：3

作者：

Zheng, Kunming ^{[1
,2
]}

Chen, Haiwei ^{[1
,2
]}

Zhang, Qiuju ^{[1
,2
]}

Zeng, Shuisheng ^{[3
]}

机构：

[1] Jiangnan Univ, Sch Mech Engn, Wuxi 214122, Jiangsu, Peoples R China

[2] Jiangsu Key Lab Adv Food Mfg Equipment & Technol, Wuxi 214122, Jiangsu, Peoples R China

[3] Changzhou Gucoi Intelligent Equipment Technol Res, Changzhou 213001, Peoples R China

来源：

JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY | 2022年 / 36卷 / 05期

关键词：

Rigid-flexible robot; Micro chaotic phenomena; Intelligent control; Accuracy and the stability; IMPACT ANALYSIS; SYNCHRONIZATION; DYNAMICS; CLEARANCE; ENTROPY; BIFURCATION; MECHANISM; SYSTEMS; MODEL;

D O I：

10.1007/s12206-022-0440-z

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

For rigid-flexible robots, the previous studies have revealed that the chaotic phenomena is inevitably caused by the uncertainty component flexibility and the joint clearance, which reduces position accuracy and operating stability. To solve the chaotic problem, the micro chaotic phenomena of rigid-flexible robot is effectively identified in this study, and the so called micro chaotic phenomena is the description of the uncertainty of position accuracy. From the new perspective of micro chaos to develop an intelligent control strategy, and the intelligent control method composed by the fuzzy neural network control and the PD delayed feedback control is proposed. Finally, its effectiveness is verified, and the accuracy and the stability of rigid-flexible robot while suppressing the micro chaotic phenomena is improved.

引用

页码：2597 / 2609

页数：13

共 37 条

[1] Chaotic and synchronized dynamics of non-linear Euler-Bernoulli beams
Awrejcewicz, J.
Krysko, A. V.
Dobriyan, V.
Papkova, I. V.
Krysko, V. A.
[J]. COMPUTERS & STRUCTURES, 2015, 155 : 85 - 96
[2] Classification of periodic, chaotic and random sequences using approximate entropy and Lempel-Ziv complexity measures
Balasubramanian, Karthi
Nair, Silpa S.
Nagaraj, Nithin
[J]. PRAMANA-JOURNAL OF PHYSICS, 2015, 84 (03): : 365 - 372
[3] On the Local Stabilization of Hybrid Limit Cycles in Switched Affine Systems
Benmiloud, Mohammed
Benalia, Atallah
Djemai, Mohamed
Defoort, Michael
[J]. IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2019, 64 (02) : 841 - 846
[4] Chaos control and synchronization of a class of uncertain chaotic systems
Bowong, S
Kakmeni, FMM
Tchawoua, C
[J]. JOURNAL OF VIBRATION AND CONTROL, 2005, 11 (08) : 1007 - 1024
[5] Dynamics analysis of planar multi-DOF mechanism with multiple revolute clearances and chaos identification of revolute clearance joints
Chen, Xiulong
Jiang, Shuai
Wang, Suyu
Deng, Yu
[J]. MULTIBODY SYSTEM DYNAMICS, 2019, 47 (04) : 317 - 345
[6] Chaotic characteristic analysis of spatial parallel mechanism with clearance in spherical joint
Chen, Xiulong
Gao, Wenhua
Deng, Yu
Wang, Qing
[J]. NONLINEAR DYNAMICS, 2018, 94 (04) : 2625 - 2642
[7] Chaotic phenomena and fractional-order dynamics in the trajectory control of redundant manipulators
Duarte, FBM
Machado, JAT
[J]. NONLINEAR DYNAMICS, 2002, 29 (1-4) : 315 - 342
[8] Experimental investigation of flexible connection and clearance joint effects on the vibration responses of mechanisms
Erkaya, Selcuk
[J]. MECHANISM AND MACHINE THEORY, 2018, 121 : 515 - 529
[9] Effects of joint clearance on the dynamics of a partly compliant mechanism: Numerical and experimental studies
Erkaya, Selcuk
Dogan, Selim
Ulus, Saban
[J]. MECHANISM AND MACHINE THEORY, 2015, 88 : 125 - 140
[10] Gotoh M, 1998, MET MATER-KOREA, V4, P322

← 1 2 3 4 →