Codimension Two Bifurcation in an Approximate Model for Delayed Robot Control

Abstract

Delay in robot control may result in unexpectedly sophisticated dynamics, which is not possible to explain without the time lag built in the system. But once we have a delayed system, even with a small degree of freedom, it can produce phenomena which are well known in the theory of nonlinear oscillations, but they are not likely to occure in simple, smooth and undelayed mechanical systems.