Suppressing or inducing chaos in a model of robot arms and mechanical manipulators

摘要: We study the problems of suppressing or inducing chaotic dynamics in a simple model robot arms and mechanical manipulators, assuming that unperturbed systems possess multiple non-transverse homoclinic and/or heteroclinic orbits depending on parameters. Based Melnikov method numerical computations for integrals, fixed points, turning we obtain conditions chaos suppression generation. prove initial phase difference Ψ plays an important role complex systems. Our results indicate these methods controlling can be easily applied to many natural science engineering.