Synchronous Dynamics of Robotic Arms Driven by Chua's Circuits

Abstract This study investigates chaotic synchronization via field-coupled nonlinear circuits, achieving both electrical synchronization and energy balance. The driving mechanism bio-mimetically parallels neuromuscular signal transduction: synchronized neuronal firing induces coordinated muscle contractions that produce macroscopic movement. We implement a Chua’s circuit-driven robotic arm with tunable periodic/chaotic oscillations through parameter modulation and external current injection. Bifurcation analysis maps oscillation modes under varying external stimuli. Inductive coupling between two systems with distinct initial conditions facilitates magnetic energy transfer, optimized by an energy balance criterion. A bio-inspired exponential gain method dynamically regulates coupling strength to optimize energy transfer efficiency. Ambient electromagnetic noise effects on synchronization are systematically quantified. Results indicate electrically modulatable robotic arm dynamics, with coupled systems achieving autonomous rapid synchronization. Despite noise-induced desynchronization, inter-system errors exhibit rapid decay and stabilization within bounded limits, confirming robust stability.