Utilize este identificador para referenciar este registo: http://hdl.handle.net/10400.22/4109
Título: A fractional approach for the motion planning of redundant and hyper-redundant manipulators
Autor: Marcos, Maria da Graça
Machado, J. A. Tenreiro
Azevedo-Perdicoúlis, T. P.
Palavras-chave: Redundant manipulators
Hyper-redundant manipulators
Robots
Kinematics
Fractional calculus
Trajectory planning
Data: 2011
Editora: Elsevier
Relatório da Série N.º: Signal Processing; Vol. 91, Issue 3
Resumo: The trajectory planning of redundant robots through the pseudoinverse control leads to undesirable drift in the joint space. This paper presents a new technique to solve the inverse kinematics problem of redundant manipulators, which uses a fractional differential of order α to control the joint positions. Two performance measures are defined to examine the strength and weakness of the proposed method. The positional error index measures the precision of the manipulator's end-effector at the target position. The repeatability performance index is adopted to evaluate if the joint positions are repetitive when the manipulator execute repetitive trajectories in the operational workspace. Redundant and hyper-redundant planar manipulators reveal that it is possible to choose in a large range of possible values of α in order to get repetitive trajectories in the joint space.
Peer review: yes
URI: http://hdl.handle.net/10400.22/4109
ISSN: 0165-1684
Versão do Editor: http://www.sciencedirect.com/science/article/pii/S0165168410000319
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