Abstract:Considering the index of joint limit displacement,the dynamic characteristics of redundant manipulator system and the control to chaotic motion by delayed feedback method were studied.Taking the planar 3-DOF manipulator as the research object,the dynamic model of the planar manipulator system was deduced by the pseudoinverse of the Jacobian method.Based on the index of joint limit displacement,the dynamic equation of redundant manipulator system was established.The model was solved by Runge-Kutta method and dynamic characteristics were analyzed by using phase diagram,Poincaré diagram and Lyapunov exponent diagram et al.The result shows that the selfmotion of redundant manipulator based on the joint displacement limit exhibits chaos phenomenon.On this basis,the chaos of the system was controlled by using the delayed feedback method.It is obtained that delayed feedback control can make the chaos motion of redundant manipulator in stable periodic orbits under the conditions of suitable disturbance weight parameter.In addition,it is found that it also has the windows of 2 times period and 3 times period as well as 1 times period in the chaotic attractor. By selecting different disturbance weight,the system can be stabilized on different periodic orbits.