Homoclinic chaos in 2-DOF robot manipulators driven by PD controllers

DOI10.1023/A:1008363632407zbMath0982.70007OpenAlexW148597500MaRDI QIDQ1573314

Fernando Verduzco, Joaquín Alvarez-Gallegos

Publication date: 8 April 2002

Published in: Nonlinear Dynamics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1023/a:1008363632407

zbMATH Keywords

viscous dampingtwo-degree-of-freedom robot manipulatorenergy balanceMelnikov's methodactuator failureproportional-derivative controllerreduction schemenon-Hamiltonian perturbationexistence of Smale horseshoes

Mathematics Subject Classification ID

Transition to stochasticity (chaotic behavior) for nonlinear problems in mechanics (70K55) Control of mechanical systems (70Q05) Robot dynamics and control of rigid bodies (70E60)

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