It has been 20 years or so since the end of 1980s on the research of the possible chaotic motions and bifurcation of the two-joint robotic manipulators. However, most studies mainly focus on the computer simulations and theoretical analysis. There are few to set up a real physical structure to observe its chaotic motion and bifurcation. In this case, I set up a real physical structure to do more research on it. Besides, in this project, it is worthy to note that only the first manipulator is actuated.
The video clip above shows the chaotic motion of this system. For more details, check the following report which can not be copied and spread with the authors' permission.
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