Utilize este identificador para referenciar este registo: http://hdl.handle.net/10400.22/7196
Título: Chaotic Phenomena and Performance Optimization in the Trajectory Control of Redundant Manipulators
Autor: Duarte, Fernando
Machado, J. A. Tenreiro
Palavras-chave: Chaotic phenomena
Redundant manipulators
Data: 1998
Editora: Springer
Resumo: Redundant manipulators have some advantages when compared with classical arms because they allow the trajectory optimization, both on the free space and on the presence of abstacles, and the resolution of singularities. For this type of manipulators, several kinetic algorithms adopt generalized inverse matrices. In this line of thought, the generalized inverse control scheme is tested through several experiments that reveal the difficulties that often arise. Motivated by theseproblems this paper presents a new method that ptimizes the manipulability through a least squre polynomialapproximation to determine the joints positions. Moreover, the article studies influence on the dynamics, when controlling redundant and hyper-redundant manipulators. The experiment confirm the superior performance of the proposed algorithm for redundant and hyper-redundant manipulators, revealing several fundamental properties of the chaotic phenomena, and gives a deeper insight towards the future development of superior trajectory control algorithms.
Peer review: yes
URI: http://hdl.handle.net/10400.22/7196
ISBN: 9789814021340
Aparece nas colecções:ISEP – DEE – Livro, parte de livro, ou capítulo de livro

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