Experimental Closed-Loop Excitation of Nonlinear Normal Modes on an Elastic Industrial Robot

Adding elastic elements to the mechanical structure should enable robots to perform efficient oscillatory tasks. Still, even characterizing natural oscillations in nonlinear systems is a challenge in itself, which nonlinear modal theory promises to solve. Therein eigenmanifolds generalize eigenspaces to mechanical systems with non-Euclidean...

Agent-oriented modeling of the dynamics of biological organisms