Achievement of chaotic synchronization trajectories of master-slave manipulators with feedback control strategy |
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Affiliation: | Qingkai Han·Lina Hao·Hao Zhang·Bangchun Wen School of Mechanical Engineering and Automation,Northeastern University,110004 Shenyang,China |
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Abstract: | This paper addresses a master-slave synchronization strategy for complex dynamic systems based on feedback control.This strategy is applied to 3-DOF planar manipulators in order to obtain synchronization in such complicated as chaotic motions of end-effectors.A chaotic curve is selected from Duffing equation as the trajectory of master end-effector and a piecewise approximation method is proposed to accurately represent this chaotic trajectory of end-effectors.The dynamical equations of master-slave manipul... |
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Keywords: | Master-slave manipulators Chaotic synchronization trajectory Feedback control |
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