| Presentation | 2023-03-15 Global bifurcations in a two-link robot Rikiya Yamaguchi, Yuu Miino, Daisuke Ito, Tetsushi Ueta, |
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| PDF Download Page |  PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | A two-link robot is modeled as a four-dimensional autonomous system, and its motion is chaotic. The global motion of the robot starts from an unstable manifold near a saddle equilibrium point and is separated by a homoclinic orbit connecting to its own saddle equilibrium point. In this study, we analyze and observe homoclinic orbits in a system where friction and constant torque are applied to the joints of the robot. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | two-hand robot / dynamics / global bifurcation / homoclinic orbit |
| Paper # | MSS2022-69,NLP2022-114 |
| Date of Issue | 2023-03-08 (MSS, NLP) |
| Conference Information | |
| Committee | NLP / MSS |
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| Conference Date | 2023/3/15(3days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | |
| Chair | Akio Tsuneda(Kumamoto Univ.) / Atsuo Ozaki(Osaka Inst. of Tech.) |
| Vice Chair | Hiroyuki Torikai(Hosei Univ.) / Shingo Yamaguchi(Yamaguchi Univ.) |
| Secretary | Hiroyuki Torikai(Sojo Univ.) / Shingo Yamaguchi(Gifu Univ.) |
| Assistant | Yuichi Yokoi(Nagasaki Univ.) / Yoshikazu Yamanaka(Utsunomiya Univ.) / Masato Shirai(Shimane Univ.) |
| Paper Information | |
| Registration To | Technical Committee on Nonlinear Problems / Technical Committee on Mathematical Systems Science and its Applications |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Global bifurcations in a two-link robot |
| Sub Title (in English) | |
| Keyword(1) | two-hand robot |
| Keyword(2) | dynamics |
| Keyword(3) | global bifurcation |
| Keyword(4) | homoclinic orbit |
| 1st Author's Name | Rikiya Yamaguchi |
| 1st Author's Affiliation | Tokushima University(Tokushima Univ) |
| 2nd Author's Name | Yuu Miino |
| 2nd Author's Affiliation | Naruto University of Education(Naruto Univ) |
| 3rd Author's Name | Daisuke Ito |
| 3rd Author's Affiliation | Gifu University(Gifu Univ) |
| 4th Author's Name | Tetsushi Ueta |
| 4th Author's Affiliation | Tokushima University(Tokushima Univ) |
| Date | 2023-03-15 |
| Paper # | MSS2022-69,NLP2022-114 |
| Volume (vol) | vol.122 |
| Number (no) | MSS-435,NLP-436 |
| Page | pp.pp.37-42(MSS), pp.37-42(NLP), |
| #Pages | 6 |
| Date of Issue | 2023-03-08 (MSS, NLP) |