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Periodic and Chaotic Motions of a Two-Bar Linkage with OPCL Controller

Author

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  • Qingkai Han
  • Xueyan Zhao
  • Xiaoguang Yang
  • Bangchun Wen

Abstract

A two-bar linkage, which is described in differential dynamical equations, can perform nonlinear behaviors due to system parameters or external input. As a basic component of robot system, the investigation of its behavior can improve robot performance, control strategy, and system parameters. An open-plus-close-loop (OPCL) control method therefore is developed and applied to reveal and classify the complicated behaviors of a two-bar linkage. In this paper, the conception and stability of OPCL are addressed firstly. Then it is applied to the dynamical equations of two-bar linkage. Different motions including single-periodic, multiple-periodic, quasiperiodic, and chaotic motions are unfolded by numerical simulations when changing the controller parameters. Furthermore, the obtained chaotic motions are sorted out for qualitative and quantificational study using Lyapunov exponents and hypothetic possibilities of surrogate data method.

Suggested Citation

  • Qingkai Han & Xueyan Zhao & Xiaoguang Yang & Bangchun Wen, 2010. "Periodic and Chaotic Motions of a Two-Bar Linkage with OPCL Controller," Mathematical Problems in Engineering, Hindawi, vol. 2010, pages 1-15, July.
    • Handle: RePEc:hin:jnlmpe:986319
    DOI: 10.1155/2010/986319
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