Cassiano, JeffersonBalthazar, José Manoel [UNESP]2014-02-262014-05-202014-02-262014-05-202007-06-01International Journal of Bifurcation and Chaos. Singapore: World Scientific Publ Co Pte Ltd, v. 17, n. 6, p. 2009-2020, 2007.0218-1274http://hdl.handle.net/11449/24806In this work, the occurrence of chaos (homoclinic scene) is verified in a robotic system with two degrees of freedom by using Poincare-Mel'nikov method. The studied problem was based on experimental results of a two-joint planar manipulator-first joint actuated and the second joint free-that resides in a horizontal plane. This is the simplest model of nonholonomic free-joint manipulators. The purpose of the present study is to verify analytically those results and to suggest a control strategy.2009-2020engchaoscontrolPoincare-Mel'nikov methodnonholonomic manipulatorArtigo10.1142/S021812740701818XWOS:000252021800009Acesso restrito