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|Type:||Artigo de periódico|
|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.|
|Editor:||World Scientific Publ Co Pte Ltd|
|Appears in Collections:||Unicamp - Artigos e Outros Documentos|
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