Nonlinear vibration of a robot manipulator with compliant joints

Document Type

Conference Proceeding

Publication Date

12-1-1992

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.

Identifier

0026977189 (Scopus)

First Page

693

Last Page

699

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