自由関節を持つ平面アームのカオス的挙動と非線形制御

―ドリフトを持つ非ホロノミック機械の制御―

抄録

The nonholonomic systems considered in robotics are mechanical systems with nonintegrable constraints. These systems have the property that the dimension of the reachable space is larger than the number of degree-of-freedom. A two-joint planar manipulator with the second joint free is one of such systems. Chaos, on the other hand, is another major topic in nonlinear dynamics and has the property that a dynamical system is sensitive in the initial conditions. The two phenomena have the same mathematical background from integrability point of view. In this paper, we study when and how the manipulator exhibits the chaotic behavior. We propose a control strategy for simultaneous positioning of the two joints, based on the analysis of nonlinear behavior. Its effectiveness is to be shown by experiments.