Nonlinear dynamics of a single-degree robot model Part 2: Onset of chaotic transients

In Part 1 of this paper we have investigated numerically the quasiperiodic and frequency locked solutions of mathematical model of a robot with one degree of freedom. In this paper we extend our investigations to the region of transient chaos. The zones of chaotic transients are very broad and lie beyond the parameter range of engineering significance. Transiently chaotic zones exhibit a complex structure, fractally intertwined with tongues of regular pattern and cover a broad range of control parameter L. The crisis point for the onset of sustained chaos lies extremely far from the point of onset of transient chaos.