Complex behaviors of a two revolute joints robot: harmonic, subharmonic, higher harmonic, fractional harmonic, chaotic responses

Abstract

This paper deals with the complex behavior which can appear in the dynamics structure of a two revolute joint robot controlled with a PD control law. Different mathematical tools have been used and the obtained results are presented as well in the phase space (the continuous one and the discrete one associated with the Poincare's map) as in a parameter plane (for obtaining the bifurcation properties).< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>