Nonlinear Vibration of a Robot Manipulator with Compliant Joints

Author

Ming-Chuan Leu, Missouri University of Science and TechnologyFollow
Wenjuan H. Zhu

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.

Recommended Citation

M. Leu and W. H. Zhu, "Nonlinear Vibration of a Robot Manipulator with Compliant Joints," Proceedings of the 1992 Japan - USA Symposium on Flexible Automation Part 1, American Society of Mechanical Engineers (ASME), Jan 1992.

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.

Publication Date

01 Jan 1992