On the Output Motion of PMSM Driving a Planar Underactuated 2R Manipulator

In this paper, a PMSM is connected to a planar underactuated 2R manipulator. Both two systems are nonlinear dynamic systems. It is deserted to learn the influence of coupling of nonlinear systems on the motion of the system. The coupling dynamic model is established, and simulation is carried out. The result shows that the coupling of nonlinear dynamic system certainly makes the bifurcation point changed, and even more disappeared. In addition to this, the coupling of nonlinear system intensifies the chaotic motion.