Homoclinic chaos in 2-DOF robot manipulators driven by PD controllers (Q1573314)
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scientific article; zbMATH DE number 1487122
| Language | Label | Description | Also known as |
|---|---|---|---|
| English | Homoclinic chaos in 2-DOF robot manipulators driven by PD controllers |
scientific article; zbMATH DE number 1487122 |
Statements
Homoclinic chaos in 2-DOF robot manipulators driven by PD controllers (English)
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8 April 2002
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two-degree-of-freedom robot manipulator
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proportional-derivative controller
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existence of Smale horseshoes
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viscous damping
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actuator failure
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non-Hamiltonian perturbation
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reduction scheme
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Melnikov's method
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energy balance
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0.9171214
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0.87588656
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0.86518884
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0.8649857
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0.86474884
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0.8645061
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