Fractional-order dynamics in the trajectory control of redundant manipulators

Bibliographic Details
Main Author: Duarte, Fernando B. M.
Publication Date: 2001
Other Authors: Tenreiro Machado, J. A.
Language: eng
Source: Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)
Download full: http://hdl.handle.net/10400.22/13378
Summary: Redundant manipulators have som advantages when compared with classical arms because they allow the trajectory optimization, both on the free space and the presence of obstacles, and the resolution of singularities. For this type of arms the proposed kinematic control algorithms adopt generalized inverse matrices but, in general, the corresponding trajectory planning schemes show important limitations. Motivated by these problems this paper studies the chaos revelead by the pseudoinverse-based trajectroy planning algorithms, using the theory of fractional claculus.
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spelling Fractional-order dynamics in the trajectory control of redundant manipulatorsFractional calculusRedundant manipulatorsFractional orderRedundant manipulators have som advantages when compared with classical arms because they allow the trajectory optimization, both on the free space and the presence of obstacles, and the resolution of singularities. For this type of arms the proposed kinematic control algorithms adopt generalized inverse matrices but, in general, the corresponding trajectory planning schemes show important limitations. Motivated by these problems this paper studies the chaos revelead by the pseudoinverse-based trajectroy planning algorithms, using the theory of fractional claculus.REPOSITÓRIO P.PORTODuarte, Fernando B. M.Tenreiro Machado, J. A.2019-04-03T14:48:59Z2001-09-162001-09-16T00:00:00Zconference objectinfo:eu-repo/semantics/publishedVersionapplication/pdfhttp://hdl.handle.net/10400.22/13378enginfo: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:RCAAP2025-04-02T03:11:31Zoai:recipp.ipp.pt:10400.22/13378Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireinfo@rcaap.ptopendoar:https://opendoar.ac.uk/repository/71602025-05-29T00:46:01.815747Repositórios 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 dynamics in the trajectory control of redundant manipulators
title Fractional-order dynamics in the trajectory control of redundant manipulators
spellingShingle Fractional-order dynamics in the trajectory control of redundant manipulators
Duarte, Fernando B. M.
Fractional calculus
Redundant manipulators
Fractional order
title_short Fractional-order dynamics in the trajectory control of redundant manipulators
title_full Fractional-order dynamics in the trajectory control of redundant manipulators
title_fullStr Fractional-order dynamics in the trajectory control of redundant manipulators
title_full_unstemmed Fractional-order dynamics in the trajectory control of redundant manipulators
title_sort Fractional-order dynamics in the trajectory control of redundant manipulators
author Duarte, Fernando B. M.
author_facet Duarte, Fernando B. M.
Tenreiro Machado, J. A.
author_role author
author2 Tenreiro Machado, J. A.
author2_role author
dc.contributor.none.fl_str_mv REPOSITÓRIO P.PORTO
dc.contributor.author.fl_str_mv Duarte, Fernando B. M.
Tenreiro Machado, J. A.
dc.subject.por.fl_str_mv Fractional calculus
Redundant manipulators
Fractional order
topic Fractional calculus
Redundant manipulators
Fractional order
description Redundant manipulators have som advantages when compared with classical arms because they allow the trajectory optimization, both on the free space and the presence of obstacles, and the resolution of singularities. For this type of arms the proposed kinematic control algorithms adopt generalized inverse matrices but, in general, the corresponding trajectory planning schemes show important limitations. Motivated by these problems this paper studies the chaos revelead by the pseudoinverse-based trajectroy planning algorithms, using the theory of fractional claculus.
publishDate 2001
dc.date.none.fl_str_mv 2001-09-16
2001-09-16T00:00:00Z
2019-04-03T14:48:59Z
dc.type.driver.fl_str_mv conference object
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://hdl.handle.net/10400.22/13378
url http://hdl.handle.net/10400.22/13378
dc.language.iso.fl_str_mv eng
language eng
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.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
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reponame_str Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)
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repository.mail.fl_str_mv info@rcaap.pt
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