Title

Nonlinear Vibration of a Robot Manipulator with Compliant Joints

Abstract

The nonlinear vibration of a two-link robot manipulator with compliance in the joints is studied. The nonlinear characteristics of the system are revealed by examining the time histories of the system's states and the state-space trajectories. A cell mapping method is used to perform a global analysis of the system's nonlinear behavior. The effects of system parameters on the global stability of the system are discussed.

Meeting Name

1992 Japan - USA Symposium on Flexible Automation Part 2

Department(s)

Mechanical and Aerospace Engineering

Keywords and Phrases

Nmanipulators; System Availability; Vibrations (Mechanical)

Document Type

Article - Conference proceedings

Document Version

Citation

File Type

text

Language(s)

English

Rights

© 1992 American Society of Mechanical Engineers (ASME), All rights reserved.

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