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Paper Abstract and Keywords
Presentation 2023-03-15 13:20
Global bifurcations in a two-link robot
Rikiya Yamaguchi (Tokushima Univ), Yuu Miino (Naruto Univ), Daisuke Ito (Gifu Univ), Tetsushi Ueta (Tokushima Univ) MSS2022-69 NLP2022-114
Abstract (in Japanese) (See Japanese page) 
(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) 
(in English) two-hand robot / dynamics / global bifurcation / homoclinic orbit / / / /  
Reference Info. IEICE Tech. Rep., vol. 122, no. 436, NLP2022-114, pp. 37-42, March 2023.
Paper # NLP2022-114 
Date of Issue 2023-03-08 (MSS, NLP) 
ISSN Online edition: ISSN 2432-6380
All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
Download PDF MSS2022-69 NLP2022-114

Conference Information
Committee NLP MSS  
Conference Date 2023-03-15 - 2023-03-17 
Place (in Japanese) (See Japanese page) 
Place (in English)  
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Paper Information
Registration To NLP 
Conference Code 2023-03-NLP-MSS 
Language Japanese 
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)
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Speaker Author-1 
Date Time 2023-03-15 13:20:00 
Presentation Time 20 minutes 
Registration for NLP 
Paper # MSS2022-69, NLP2022-114 
Volume (vol) vol.122 
Number (no) no.435(MSS), no.436(NLP) 
Page pp.37-42 
Date of Issue 2023-03-08 (MSS, NLP) 

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