Fractional dynamics in liquid manipulation

Lima, Miguel; Machado, J. A. Tenreiro

http://hdl.handle.net/10400.22/4127

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Authors

Lima, Miguel

Machado, J. A. Tenreiro

Abstract(s)

This paper presents a fractional calculus perspective in the study of signals captured during the movement of a mechanical manipulator carrying a liquid container. In order to study the signals an experimental setup is implemented. The system acquires data from the sensors, in real time, and, in a second phase, processes them through an analysis package. The analysis package runs off-line and handles the recorded data. The results show that the Fourier spectrum of several signals presents a fractional behavior. The experimental study provides useful information that can assist in the design of a control system and the trajectory planning to be used in reducing or eliminating the effect of vibrations.