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Chaotic phenomena in the trajectory control of redundant manipulators
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Resumo(s)
Redundant manipulators have some advantages when compared with classical arms because they allow the trajectory optimization, both on the free space and on the presence of obstacles, and the resolution of singularities. For tihs type of manipulators, the proposed kinematic control algorithms adopt generalized inverse matrices. In this line of thought, the generalized inverse control scheme is tested through several experiments that reveal the difficulties that often arise. Motivated by these problems this paper studies the chaos revealed by the kinematics trajectory planning scheme, as well as its influence on the dynamics, when controlling redundant and hyper-redundant manipulators. The results reveal several fundamental properties of the chaotic phenomena and gives a deeper insight towards the future developement of superior trajectory control algorithms.