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Type: Artigo de periódico
Title: On homoclinic chaos and a control chaos strategy applied to a free-joint nonholonomic manipulator
Author: Cassiano, J
Balthazar, JM
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.
Subject: chaos
Poincare-Mel'nikov method
nonholonomic manipulator
Country: Singapura
Editor: World Scientific Publ Co Pte Ltd
Citation: International Journal Of Bifurcation And Chaos. World Scientific Publ Co Pte Ltd, v. 17, n. 6, n. 2009, n. 2020, 2007.
Rights: fechado
Identifier DOI: 10.1142/S021812740701818X
Date Issue: 2007
Appears in Collections:Unicamp - Artigos e Outros Documentos

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