Fractional dynamics in the trajectory control of redundant manipulators

Bibliographic Details
Main Author: Marcos, Maria da Graça
Publication Date: 2008
Other Authors: Duarte, Fernando B., Machado, J. A. Tenreiro
Format: Article
Language: eng
Source: Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)
Download full: http://hdl.handle.net/10400.22/4569
Summary: Under the pseudoinverse control, robots with kinematical redundancy exhibit an undesirable chaotic joint motion which leads to an erratic behavior. This paper studies the complexity of fractional dynamics of the chaotic response. Fourier and wavelet analysis provides a deeper insight, helpful to know better the lack of repeatability problem of redundant manipulators. This perspective for the study of the chaotic phenomena will permit the development of superior trajectory control algorithms.
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spelling Fractional dynamics in the trajectory control of redundant manipulatorsRedundant manipulatorsFractional calculusFourier transformWindowed Fourier transformWaveletsUnder the pseudoinverse control, robots with kinematical redundancy exhibit an undesirable chaotic joint motion which leads to an erratic behavior. This paper studies the complexity of fractional dynamics of the chaotic response. Fourier and wavelet analysis provides a deeper insight, helpful to know better the lack of repeatability problem of redundant manipulators. This perspective for the study of the chaotic phenomena will permit the development of superior trajectory control algorithms.ElsevierREPOSITÓRIO P.PORTOMarcos, Maria da GraçaDuarte, Fernando B.Machado, J. A. Tenreiro2014-06-25T10:37:47Z20082008-01-01T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articleapplication/pdfhttp://hdl.handle.net/10400.22/4569eng1007-570410.1016/j.cnsns.2007.03.027info: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:RCAAP2025-04-02T03:24:00Zoai:recipp.ipp.pt:10400.22/4569Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireinfo@rcaap.ptopendoar:https://opendoar.ac.uk/repository/71602025-05-29T00:54:30.155123Repositórios 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 Fractional dynamics in the trajectory control of redundant manipulators
title Fractional dynamics in the trajectory control of redundant manipulators
spellingShingle Fractional dynamics in the trajectory control of redundant manipulators
Marcos, Maria da Graça
Redundant manipulators
Fractional calculus
Fourier transform
Windowed Fourier transform
Wavelets
title_short Fractional dynamics in the trajectory control of redundant manipulators
title_full Fractional dynamics in the trajectory control of redundant manipulators
title_fullStr Fractional dynamics in the trajectory control of redundant manipulators
title_full_unstemmed Fractional dynamics in the trajectory control of redundant manipulators
title_sort Fractional dynamics in the trajectory control of redundant manipulators
author Marcos, Maria da Graça
author_facet Marcos, Maria da Graça
Duarte, Fernando B.
Machado, J. A. Tenreiro
author_role author
author2 Duarte, Fernando B.
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, Fernando B.
Machado, J. A. Tenreiro
dc.subject.por.fl_str_mv Redundant manipulators
Fractional calculus
Fourier transform
Windowed Fourier transform
Wavelets
topic Redundant manipulators
Fractional calculus
Fourier transform
Windowed Fourier transform
Wavelets
description Under the pseudoinverse control, robots with kinematical redundancy exhibit an undesirable chaotic joint motion which leads to an erratic behavior. This paper studies the complexity of fractional dynamics of the chaotic response. Fourier and wavelet analysis provides a deeper insight, helpful to know better the lack of repeatability problem of redundant manipulators. This perspective for the study of the chaotic phenomena will permit the development of superior trajectory control algorithms.
publishDate 2008
dc.date.none.fl_str_mv 2008
2008-01-01T00:00:00Z
2014-06-25T10:37:47Z
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.driver.fl_str_mv info:eu-repo/semantics/article
format article
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://hdl.handle.net/10400.22/4569
url http://hdl.handle.net/10400.22/4569
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv 1007-5704
10.1016/j.cnsns.2007.03.027
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 Elsevier
publisher.none.fl_str_mv Elsevier
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
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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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