Fractional-order harmonics in the trajectory control of redundant manipulators

Bibliographic Details
Main Author: Duarte, Fernando B. M.
Publication Date: 2006
Other Authors: Marcos, Maria da Graça, Tenreiro Machado, J. A.
Language: eng
Source: Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)
Download full: http://hdl.handle.net/10400.22/13257
Summary: Redundant manipulators are superior to classical arms because they 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 result reveals a chaotic phenomenon and the existence of fractional order sub-harmonics in the robot signals.
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spelling Fractional-order harmonics in the trajectory control of redundant manipulatorsRedundant ManipulatorsKinematicsFractional-Order HarmonicsFourier TransformWindowed Fourier TransformRedundant manipulators are superior to classical arms because they 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 result reveals a chaotic phenomenon and the existence of fractional order sub-harmonics in the robot signals.REPOSITÓRIO P.PORTODuarte, Fernando B. M.Marcos, Maria da GraçaTenreiro Machado, J. A.2019-03-29T15:53:30Z2006-072006-07-01T00:00:00Zconference objectinfo:eu-repo/semantics/publishedVersionapplication/pdfhttp://hdl.handle.net/10400.22/13257enginfo: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:RCAAP2025-04-02T03:29:33Zoai:recipp.ipp.pt:10400.22/13257Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireinfo@rcaap.ptopendoar:https://opendoar.ac.uk/repository/71602025-05-29T00:58:15.766399Repositórios 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-order harmonics in the trajectory control of redundant manipulators
title Fractional-order harmonics in the trajectory control of redundant manipulators
spellingShingle Fractional-order harmonics in the trajectory control of redundant manipulators
Duarte, Fernando B. M.
Redundant Manipulators
Kinematics
Fractional-Order Harmonics
Fourier Transform
Windowed Fourier Transform
title_short Fractional-order harmonics in the trajectory control of redundant manipulators
title_full Fractional-order harmonics in the trajectory control of redundant manipulators
title_fullStr Fractional-order harmonics in the trajectory control of redundant manipulators
title_full_unstemmed Fractional-order harmonics in the trajectory control of redundant manipulators
title_sort Fractional-order harmonics in the trajectory control of redundant manipulators
author Duarte, Fernando B. M.
author_facet Duarte, Fernando B. M.
Marcos, Maria da Graça
Tenreiro Machado, J. A.
author_role author
author2 Marcos, Maria da Graça
Tenreiro Machado, J. A.
author2_role author
author
dc.contributor.none.fl_str_mv REPOSITÓRIO P.PORTO
dc.contributor.author.fl_str_mv Duarte, Fernando B. M.
Marcos, Maria da Graça
Tenreiro Machado, J. A.
dc.subject.por.fl_str_mv Redundant Manipulators
Kinematics
Fractional-Order Harmonics
Fourier Transform
Windowed Fourier Transform
topic Redundant Manipulators
Kinematics
Fractional-Order Harmonics
Fourier Transform
Windowed Fourier Transform
description Redundant manipulators are superior to classical arms because they 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 result reveals a chaotic phenomenon and the existence of fractional order sub-harmonics in the robot signals.
publishDate 2006
dc.date.none.fl_str_mv 2006-07
2006-07-01T00:00:00Z
2019-03-29T15:53:30Z
dc.type.driver.fl_str_mv conference object
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status_str publishedVersion
dc.identifier.uri.fl_str_mv http://hdl.handle.net/10400.22/13257
url http://hdl.handle.net/10400.22/13257
dc.language.iso.fl_str_mv eng
language eng
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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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repository.mail.fl_str_mv info@rcaap.pt
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