Artículos de revistas
On homoclinic chaos and a control chaos strategy applied to a free-joint nonholonomic manipulator
International Journal Of Bifurcation And Chaos. World Scientific Publ Co Pte Ltd, v. 17, n. 6, n. 2009, n. 2020, 2007.
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.17620092020