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Nonlinear dynamics of a single-degree robot model Part 2: Onset of chaotic transients

Published online by Cambridge University Press:  01 March 2000

V. Paar ,
N. Pavin ,
N. Paar  and
B. Novaković
V. Paar
Affiliation:
Department of Physics, Faculty of Science, University of Zagreb, Zagreb (Croatia)
N. Pavin
Affiliation:
Department of Physics, Faculty of Science, University of Zagreb, Zagreb (Croatia)
N. Paar
Affiliation:
Department of Physics, Faculty of Science, University of Zagreb, Zagreb (Croatia)
B. Novaković
Affiliation:
Faculty of Mechanical Engineering and Naval Architecture, University of Zagreb, Zagreb (Croatia)
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Abstract

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In Part 1 of this paper we have investigated numerically the quasiperiodic and frequency locked solutions of mathematical model of a robot with one degree of freedom. In this paper we extend our investigations to the region of transient chaos. The zones of chaotic transients are very broad and lie beyond the parameter range of engineering significance. Transiently chaotic zones exhibit a complex structure, fractally intertwined with tongues of regular pattern and cover a broad range of control parameter L. The crisis point for the onset of sustained chaos lies extremely far from the point of onset of transient chaos.

Keywords

Robot modelsDampingNonlinear dynamicsTransient chaosCrisis pointSustained chaos
Type
Research Article
Information
Robotica , Volume 18 , Issue 2 , March 2000 , pp. 201 - 208
Copyright
© 2000 Cambridge University Press