Paper Info
Title
On Homoclinic Chaos And A Control Chaos Strategy Applied To A Free-Joint Nonholonomic Manipulator
Abstract
In this work, the occurrence of chaos (homoclinic scene) is verified in a robotic system with two degrees of freedom by using Poincare-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.
Year
DOI
Venue
2007
10.1142/S021812740701818X
INTERNATIONAL JOURNAL OF BIFURCATION AND CHAOS
Keywords
DocType
Volume
chaos, control, Poincare-Mel'nikov method, nonholonomic manipulator
Journal
17
Issue
ISSN
Citations 
6
0218-1274
0
PageRank 
References 
Authors
0.34
1
2
Name
Order
Citations
PageRank
Jefferson Cassiano100.68
José Manoel Balthazar222.60