ON HOMOCLINIC CHAOS AND A CONTROL CHAOS STRATEGY APPLIED TO A FREE-JOINT NONHOLONOMIC MANIPULATOR-Reference-Cited by-同舟云学术

ON HOMOCLINIC CHAOS AND A CONTROL CHAOS STRATEGY APPLIED TO A FREE-JOINT NONHOLONOMIC MANIPULATOR

Published:2007-06 Issue:06 Volume:17 Page:2009-2020
ISSN:0218-1274
Container-title:International Journal of Bifurcation and Chaos
language:en
Short-container-title:Int. J. Bifurcation Chaos

Author:

CASSIANO JEFFERSON¹,BALTHAZAR JOSÉ MANOEL²³

Affiliation:

1. Faculty of Engineering Mechanics, Department of Mechanical Design, C.P. 6122, 13083-970, State University of Campinas, Campinas, SP, Brazil

2. Department of Statistics, Applied Mathematics and Computation, UNESP – Rio Claro, C.P. 178, 13500-230 Rio Claro, SP, Brazil

3. Department of Design Mechanical, Faculty of Engineering Mechanics, UNICAMP, Campinas, Brazil

Abstract

In this work, the occurrence of chaos (homoclinic scene) is verified in a robotic system with two degrees of freedom by using Poincaré–Mel'nikov method. The studied problem was based on experimental results of a two-joint planar manipulator — first joint actuated and the second joint free — that resides in a horizontal plane. This is the simplest model of nonholonomic free-joint manipulators. The purpose of the present study is to verify analytically those results and to suggest a control strategy.

Publisher

World Scientific Pub Co Pte Lt

Subject

Applied Mathematics,Modeling and Simulation,Engineering (miscellaneous)

Link

https://www.worldscientific.com/doi/pdf/10.1142/S021812740701818X

Reference18 articles.

1. Stability and Control: Theory, Methods and Applications;Balthazar J. M.,2004

2. The control of chaos: theory and applications

3. On the appearance of a Hopf bifurcation in a non-ideal mechanical problem

4. A COMMENT ON A NONIDEAL CENTRIFUGAL VIBRATOR MACHINE BEHAVIOR WITH SOFT AND HARD SPRINGS

Cited by 1 articles. 订阅此论文施引文献订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献

1. Nonlinear analysis of open-chain flexible manipulator with time-dependent structure;Advances in Space Research;2022-01