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Vol. 175, Issue 7, July 2014, pp. 27-31




The Space Redundant Robotic Manipulator Chaotic Motion Dynamics Control Algorithm

Yu GE, Xinfeng GE

College of Mechanical & Electrical Engineering, Xuchang University, No. 88 of Bayi Road·Xuchang·Henan, 461000, China
Tel.: +86-374-2968700, fax: +86-374-2968708

E-mail: xinfeng.ge@gmail.com


Received: 23 April 2014 /Accepted: 30 June 2014 /Published: 31 July 2014

Digital Sensors and Sensor Sysstems


Abstract: A free-floating space redundant robotic manipulator dynamics model is established and the dynamics equation is derived, the delayed feedback control time and the self-adaptive gain coefficient are obtained by substituting into delayed feedback control equations. Then simulated dynamics control chaotic motion of the space redundant robotic manipulator, the simulation results show that the chaotic motion of the space redundant robotic manipulator becomes the periodic motion by dynamics control, therefore it is effective that dynamics control as the space redundant robotic manipulator chaotic motion control.


Keywords: Space, Free-floating, Redundant robotic manipulator, Dynamic control, Chaotic control.


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