BIFURCATION ANALYSIS OF A 2-DOF ROBOT MANIPULATOR DRIVEN BY CONSTANT TORQUES

DOI10.1142/S0218127499000432zbMath0979.70008MaRDI QIDQ4494913

Fernando Verduzco, Joaquín Alvarez-Gallegos

Publication date: 9 August 2000

Published in: International Journal of Bifurcation and Chaos (Search for Journal in Brave)

zbMATH Keywords

equilibrium pointscenter manifold theoremlocal bifurcationstwo-degree-of-freedom robot manipulatorJacobian matrixnormal form theorypure imaginary eigenvaluesdouble zero eigenvaluelinear viscous dampingconstant torquesquadruple zero eigenvalue

Mathematics Subject Classification ID

Bifurcations and instability for nonlinear problems in mechanics (70K50) Robot dynamics and control of rigid bodies (70E60) Stability problems in rigid body dynamics (70E50)

Related Items (5)

Achievement of chaotic synchronization trajectories of master-slave manipulators with feedback control strategy ⋮ Periodic and chaotic motions of a two-bar linkage with OPCL controller ⋮ Control of oscillations from the \(k\)-zero bifurcation ⋮ Stationary bifurcations control with applications ⋮ Global bifurcation analysis of a controlled underactuated mechanical system

Cites Work

• Coupled flutter and divergence bifurcation of a double pendulum
• CHAOTIC DYNAMICS OF THE PARTIALLY FOLLOWER-LOADED ELASTIC DOUBLE PENDULUM
• Bifurcations in a two-degree-of-freedom elastic system with follower forces
• Generic 3-parameter families of vector fields on the plane, unfolding a singularity with nilpotent linear part. The cusp case of codimension 3
• Bifurcation analysis of double pendulum with a follower force
• Chaos in Robot Control Equations
• On Nonconservative Stability Problems of Elastic Systems With Slight Damping

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