Abstract
Delay in robot control may result in unexpectedly sophisticated dynamics, which is not possible to explain without the time lag built in the system. But once we have a delayed system, even with a small degree of freedom, it can produce phenomena which are well known in the theory of nonlinear oscillations, but they are not likely to occure in simple, smooth and undelayed mechanical systems.
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References
G. Stépán, Retarded Dynamical Systems: Stability and Characteristic Functions. Longman, Harlow Essex (1989)
J. Guckenheimer and P. Holmes, Nonlinear Oscillations, Dynamical Systems and Bifurcations of Vector Fields. Springer-Verlag, New York (1983)
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© 1991 Birkhäuser Verlag Basel
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Haller, G., Stépán, G. (1991). Codimension Two Bifurcation in an Approximate Model for Delayed Robot Control. In: Seydel, R., Schneider, F.W., Küpper, T., Troger, H. (eds) Bifurcation and Chaos: Analysis, Algorithms, Applications. International Series of Numerical Mathematics / Internationale Schriftenreihe zur Numerischen Mathematik / Série Internationale d’Analyse Numérique, vol 97. Birkhäuser Basel. https://doi.org/10.1007/978-3-0348-7004-7_18
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DOI: https://doi.org/10.1007/978-3-0348-7004-7_18
Publisher Name: Birkhäuser Basel
Print ISBN: 978-3-0348-7006-1
Online ISBN: 978-3-0348-7004-7
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