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Nonlinear regular dynamics of a single-degree robot model
V. Paar, N. Pavin, N. Paar, B. Novaković
Journal:

Robotica / Volume 14 / Issue 4 / July 1996

Published online by Cambridge University Press:

09 March 2009, pp. 423-431
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This paper presents a 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 L-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 fractaltype multiple splitting of Arnold tongues is found in the parameter region bordering the range of engineering significance.