Chaotic Self-motion of Full Flexible-link Redundant Robot

In this paper,the chaotic self-motion of redundant robot with fully flexible links was studied by dynamic modeling combined with finite element theory and equations of Lagrange,and by use of phase plot,Poincare mapping and the largest Lyapunov exponent.The numerical results for a planner 3R redundant robot with fully flexible links indicates that,when the end-effector of the robot under the PD controller traces a closed-path repeatedly in the workspace,its self-motion is chaotic based on the pseudoinverse of Jacobian method for the inverse kinematics of redundant robot.