Abstract
The existence of Smale horseshoes in the dynamics of twodegrees of freedom (2-DOF) robot manipulators with viscous damping anddriven by classical proportional-derivative (PD) controllers is proved.The situation where an actuator failure occurs is also analyzed. Thecontrollers correspond to the classical PD and the PD with gravitycompensation. They are considered as non-Hamiltonian perturbations of anundriven 2-DOF robot; then a technique developed by Holmes and Marsden,which uses a combination of a reduction scheme and Melnikov's methodwith an energy balance argument, is applied.
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Verduzco, F., Alvarez, J. Homoclinic Chaos in 2-DOF Robot Manipulators Driven by PD Controllers. Nonlinear Dynamics 21, 157–171 (2000). https://doi.org/10.1023/A:1008363632407
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DOI: https://doi.org/10.1023/A:1008363632407