Abstract: The delayed feedback control method to eliminate the undesired chaotic joint motion, also called the drift, of spatial rigid redundant robot is proposed. An example of the chaotic control of a spatial 4R rigid redundant robot based on Jacobian’s pseudo-inverse when the end-effector traces a closed-path repeatedly in the workspace is given to demonstrate the application and the validity of the proposed method. It is shown that the chaotic motion can be turned into regular motion with some appropriate parameters. And thus the repeatability problem of redundant robot under the pseudo- inverse control is solved efficiently from a new perspective.

Key words: Chaotic control, Delayed feedback control method, Inverse kinematics, Spatial rigid redundant robot