Regular and Chaotic Dynamics of a Single-Degree
Robot Model
Abstract: We present mathematical model of a robot with one degree
of freedom and numerical investigation of its dynamics in a particular parameter scan
which is close to the upper boundary of the estimates for the parameters of rigidity and
friction, while the length parameter L is treated as a free control parameter. In this
scan the quasiperiodic and frequency locked solutions, their pattern and order of
appearance are studied in the interval from the parameter range of immediate engineering
significance to the point of appearance of transient chaos. In particular, a fractal-type
multiple splitting of Arnold tongues is found in the parameter region bordering the range
of engineering significance.
Lecture at the International conference for physics students `95
N. Paar, "Mathematical simulation of regular and chaotic dynamics of a single degree robot model"
Transparencies from the lecture (PS files)
- Title
- Phase curves, Poincare sections and power spectra
- Dynamic structure of robot model in general
- Power spectra associated with transient frequency locking
- Dynamical properties scaned through the control parameter
- Dynamical structure near the onset of transient chaos
- Poincare maps and power spectra of sustained chaotic region
Nils Paar, 1999.
