Complex dynamics in the trajectory control of redundant manipulators

Detalhes bibliográficos
Autor(a) principal: Marcos, Maria da Graça
Data de Publicação: 2006
Outros Autores: Duarte, B. M. Fernando, Machado, J. A. Tenreiro
Idioma: eng
Título da fonte: Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)
Texto Completo: http://hdl.handle.net/10400.22/4588
Resumo: Redundant manipulators allow the trajectory optimization, the obstacle avoidance, and the resolution of singularities. For this type of manipulators, the kinematic control algorithms adopt generalized inverse matrices that may lead to unpredictable responses. Motivated by these problems this paper studies the complexity revealed by the trajectory planning scheme when controlling redundant manipulators. The results reveal fundamental properties of the chaotic phenomena and give a deeper insight towards the development of superior trajectory control algorithms.
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spelling Complex dynamics in the trajectory control of redundant manipulatorsRedundant manipulatorsKinematicsFourier transformWindowed fourier transformRedundant manipulators allow the trajectory optimization, the obstacle avoidance, and the resolution of singularities. For this type of manipulators, the kinematic control algorithms adopt generalized inverse matrices that may lead to unpredictable responses. Motivated by these problems this paper studies the complexity revealed by the trajectory planning scheme when controlling redundant manipulators. The results reveal fundamental properties of the chaotic phenomena and give a deeper insight towards the development of superior trajectory control algorithms.World ScientificREPOSITÓRIO P.PORTOMarcos, Maria da GraçaDuarte, B. M. FernandoMachado, J. A. Tenreiro2014-06-25T13:25:43Z20062006-01-01T00:00:00Zbook partinfo:eu-repo/semantics/publishedVersionapplication/pdfhttp://hdl.handle.net/10400.22/4588eng978-981-270-436-8978-981-4476-33-110.1142/9789812772428_0015info:eu-repo/semantics/openAccessreponame:Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)instname:FCCN, serviços digitais da FCT – Fundação para a Ciência e a Tecnologiainstacron:RCAAP2025-04-02T03:04:58Zoai:recipp.ipp.pt:10400.22/4588Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireinfo@rcaap.ptopendoar:https://opendoar.ac.uk/repository/71602025-05-29T00:39:38.435644Repositórios Científicos de Acesso Aberto de Portugal (RCAAP) - FCCN, serviços digitais da FCT – Fundação para a Ciência e a Tecnologiafalse
dc.title.none.fl_str_mv Complex dynamics in the trajectory control of redundant manipulators
title Complex dynamics in the trajectory control of redundant manipulators
spellingShingle Complex dynamics in the trajectory control of redundant manipulators
Marcos, Maria da Graça
Redundant manipulators
Kinematics
Fourier transform
Windowed fourier transform
title_short Complex dynamics in the trajectory control of redundant manipulators
title_full Complex dynamics in the trajectory control of redundant manipulators
title_fullStr Complex dynamics in the trajectory control of redundant manipulators
title_full_unstemmed Complex dynamics in the trajectory control of redundant manipulators
title_sort Complex dynamics in the trajectory control of redundant manipulators
author Marcos, Maria da Graça
author_facet Marcos, Maria da Graça
Duarte, B. M. Fernando
Machado, J. A. Tenreiro
author_role author
author2 Duarte, B. M. Fernando
Machado, J. A. Tenreiro
author2_role author
author
dc.contributor.none.fl_str_mv REPOSITÓRIO P.PORTO
dc.contributor.author.fl_str_mv Marcos, Maria da Graça
Duarte, B. M. Fernando
Machado, J. A. Tenreiro
dc.subject.por.fl_str_mv Redundant manipulators
Kinematics
Fourier transform
Windowed fourier transform
topic Redundant manipulators
Kinematics
Fourier transform
Windowed fourier transform
description Redundant manipulators allow the trajectory optimization, the obstacle avoidance, and the resolution of singularities. For this type of manipulators, the kinematic control algorithms adopt generalized inverse matrices that may lead to unpredictable responses. Motivated by these problems this paper studies the complexity revealed by the trajectory planning scheme when controlling redundant manipulators. The results reveal fundamental properties of the chaotic phenomena and give a deeper insight towards the development of superior trajectory control algorithms.
publishDate 2006
dc.date.none.fl_str_mv 2006
2006-01-01T00:00:00Z
2014-06-25T13:25:43Z
dc.type.driver.fl_str_mv book part
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://hdl.handle.net/10400.22/4588
url http://hdl.handle.net/10400.22/4588
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv 978-981-270-436-8
978-981-4476-33-1
10.1142/9789812772428_0015
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv World Scientific
publisher.none.fl_str_mv World Scientific
dc.source.none.fl_str_mv reponame:Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)
instname:FCCN, serviços digitais da FCT – Fundação para a Ciência e a Tecnologia
instacron:RCAAP
instname_str FCCN, serviços digitais da FCT – Fundação para a Ciência e a Tecnologia
instacron_str RCAAP
institution RCAAP
reponame_str Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)
collection Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)
repository.name.fl_str_mv Repositórios Científicos de Acesso Aberto de Portugal (RCAAP) - FCCN, serviços digitais da FCT – Fundação para a Ciência e a Tecnologia
repository.mail.fl_str_mv info@rcaap.pt
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