Utilize este identificador para referenciar este registo: http://hdl.handle.net/10400.22/7069
Título: Dynamical Analysis of Non-Repetitive Trajectories in Robotic Manipulation
Autor: Machado, J. A. Tenreiro
Galhano, Alexandra
Data: 2002
Relatório da Série N.º: Nonlinear Dynamics, chaos, Control, and Their Applications to Engineering Sciences;Vol. 6 - Applications of nonlinear phenomena
Resumo: A new method for the study and optimization of manu«ipulator trajectories is developed. The novel feature resides on the modeling formulation. Standard system desciptions are based on a set of differential equations which, in general, require laborious computations and may be difficult to analyze. Moreover, the derived algorithms are suited to "deterministic" tasks, such as those appearing in a repetitivework, and are not well adapted to a "random" operation that occurs in intelligent systems interacting with a non-structured and changing environment. These facts motivate the development of alternative models based on distinct concepts. The proposed embedding of statistics and Fourier trasnform gives a new perspective towards the calculation and optimization of the robot trajectories in manipulating tasks.
URI: http://hdl.handle.net/10400.22/7069
ISBN: 85-900351-6-6
Aparece nas colecções:ISEP – DEE – Livro, parte de livro, ou capítulo de livro

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