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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), Daisuke Ito (Gifu Univ), Yuu Miino (Naruto Univ), Tetsushi Ueta (Tokushima Univ)  MSS2022-69 NLP2022-114 |
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| 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. |
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| 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 | |
| Copyright and reproduction |
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 |
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| Conference Information | |
| Committee | NLP MSS |
| Conference Date | 2023-03-15 - 2023-03-17 |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | |
| 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 |
| Keyword(5) | |
| Keyword(6) | |
| Keyword(7) | |
| Keyword(8) | |
| 1st Author's Name | Rikiya Yamaguchi |
| 1st Author's Affiliation | Tokushima University (Tokushima Univ) |
| 2nd Author's Name | Daisuke Ito |
| 2nd Author's Affiliation | Gifu University (Gifu Univ) |
| 3rd Author's Name | Yuu Miino |
| 3rd Author's Affiliation | Naruto University of Education (Naruto Univ) |
| 4th Author's Name | Tetsushi Ueta |
| 4th Author's Affiliation | Tokushima University (Tokushima Univ) |
| 5th Author's Name | |
| 5th Author's Affiliation | () |
| 6th Author's Name | |
| 6th Author's Affiliation | () |
| 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 |
| #Pages | 6 |
| Date of Issue | 2023-03-08 (MSS, NLP) |
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