Qualitative Study of a Robot Arm as a Hamiltonian System

Simple item page
dc.creatorMonerat, G. A.
dc.creatorSilva, E. V. Correa
dc.creatorCyrino, A. G.
dc.date2002-12-11
dc.date.accessioned2026-07-07T03:19:15Z
dc.date.available2026-07-07T03:19:15Z
dc.descriptionA double pendulum subject to external torques is used as a model to study the stability of a planar manipulator with two links and two rotational driven joints. The hamiltonian equations of motion and the fixed points (stationary solutions) in phase space are determined. Under suitable conditions, the presence of constant torques does not change the number of fixed points, and preserves the topology of orbits in their linear neighborhoods; two equivalent invariant manifolds are observed, each corresponding to a saddle-center fixed point.
dc.description15 pages, 5 figures
dc.identifierhttps://arxiv.org/abs/cs/0212027
dc.identifierhttp://arxiv.org/abs/cs/0212027
dc.identifier.urihttp://salesiana.dossiersoluciones.com/handle/123456789/31386
dc.subjectRobotics
dc.subjectI.2.9
dc.titleQualitative Study of a Robot Arm as a Hamiltonian System
dc.typetext

Files

Collections

arXiv