1999 Volume 12 Issue 10 Pages 596-603
The dynamics of a two-link planer manipulator with a free joint is described by non-linear ordinary differential equations including trigonometric functions. By commanding repetitive tasks, it is estimated that non-linear phenomena including chaotic motions are occurred on the manipulator. In this paper, some dynamical properties are analyzed with bifurcation theories. Moreover, some nonlinear phenomena of the manipulator are investigated with bifurcation diagrams in several parameter planes are calculated using an algorithm based on the geometric approach. In results, by applying a torque to 1st-joint performing repetitive motion, the 2nd-joint of the manipulator exhibits resonant motions, non-resonant motions, rotating motions, and chaotic motions.
