Browsing by Author "Lima, Miguel F. M."
Now showing 1 - 10 of 23
Results Per Page
Sort Options
- Application of Fractional Calculus in the Dynamical Analysis and Control of Mechanical ManipulatorsPublication . Ferreira, N. M. Fonseca; Duarte, Fernando B.; Lima, Miguel F. M.; Marcos, Maria G.; Tenreiro Machado, J. A.Mathematics Subject Classification: 26A33, 93C83, 93C85, 68T40Fractional Calculus (FC) goes back to the beginning of the theory of differential calculus. Nevertheless, the application of FC just emerged in the last two decades. In the field of dynamical systems theory some work has been carried out but the proposed models and algorithms are still in a preliminary stage of establishment. This article illustrates several applications of fractional calculus in robot manipulator path planning and control.
- Applications of fractional calculus in electrical and computer engineeringPublication . Tenreiro Machado, J. A.; Silva, Manuel; Barbosa, Ramiro; Jesus, Isabel S.; Reis, Cecília; Marcos, Maria da Graça; M. Afonso, Luís; Lima, Miguel F. M.; Pires, E. J. Solteiro; Ferreira, N. M. FonsecaFractional Calculus (FC) goes back to the beginning of the theory of differential calculus. Nevertheless, the application of FC just emerged in the last two decades, due to the progress in the area of chaos that revealed subtle relationships with the FC concepts. In the field of dynamical systems theory some work has been carried out but the proposed models and algorithms are still in a preliminary stage of establishment. Having these ideas in mind, the paper discusses a FC perspective in the study of the dynamics and control of several systems. This article illustrates several applications of fractional calculus in science and engineering. It has been recognized the advantageous use of this mathematical tool in the modeling and control of many dynamical systems. In this perspective, this paper investigates the use of FC in the fields of controller tuning, electrical systems, digital circuit synthesis, evolutionary computing, redundant robots, legged robots, robotic manipulators, nonlinear friction and financial modeling.
- Experimental Apparatus for Vibration Analysis in RoboticsPublication . Lima, Miguel F. M.; Tenreiro Machado, J. A.; Crisóstomo, ManuelRobotic systems use different types of sensors both in control and in environment perception. Those sensors can be digital encoders, tachometers, accelerometers, force sensors,current sensors and many others. In this paper an experimental setup is presented to study vibrations and impacts. The system acquires data from the sensors, in real time, and, in a second phase, processes it through an analysis package. Several examples with experimental results are carried out showing the functionalities of the developed apparatus.
- Experimental Set-up for vibration and impact analysis in roboticsPublication . Lima, Miguel F. M.; Tenreiro Machado, J. A.; Crisóstomo, ManuelIn this paper a laboratory apparatus is presented to study vibrations and phenomena. The experimental setup consists in real time acquisition and control system that acquires signals from internal and external robotic sensors. Several signals are acquired based on several experiments, both with vibrations and impacts caused by a flexible rod or a flexible beam, showing the capabilities of the system.
- Experimental Signal analysis of robot impacts in a fractional calculus perspectivePublication . Lima, Miguel F. M.; Tenreiro Machado, J. A.; Crisóstomo, ManuelThis paper presents a tudy of the signals captured during impacts and vibrations of a mechanical manipulator. In order to acquire and study the signnals an experimental setup is implemented. The system acquires data from the sensors, in real time, and processes it throught an off-line analysis package. The study is developed based on a set of signal processing tools, such as the Fast Fourier Transform and the windowed Fourier transform. The signals whose Fourier apectrum presents a non integer behavior are pointed out and analyzed using several time windows. The experimental results provide useful information that can assist in the design of a control system to deal with the unwanted effects of vibrations.
- Fractional dynamics in mechanical manipulationPublication . Lima, Miguel F. M.; Tenreiro Machado, J. A.; Crisóstomo, ManuelThis paper analyzes the 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 to be used in reducing or eliminating the effect of vibrations.
- Fractional Dynamics in Mechanical ManipulationPublication . Lima, Miguel F. M.; Tenreiro Machado, J. A.; Crisóstomo, ManuelThis paper analyzes the 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 offline 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 to be used in reducing or eliminating the effect of vibrations.
- Fractional order fourier spectra in robotic manipulators with vibrationsPublication . Lima, Miguel F. M.; Tenreiro Machado, J. A.; Crisóstomo, ManuelThis paper presents a fractional system perspective in the study of signals captured during impacts and vibrations of mechanical manipulators. In order to acquire and study the signals an experimental setup was developed. The system acquires data from the sensors, in real time, and, in a second phase, processes it through an analysis package. The experimental study provides useful information that can assist in the design of a control system to be used in eliminating or reducing the effect of vibrations.
- Multidimensional Scaling Analysis of Robotic SignalsPublication . Lima, Miguel F. M.; Tenreiro Machado, J. A.This paper analyzes the signals captured during impacts and vibrations of a mechanical manipulator. To test the impacts, a flexible beam is clamped to the end-effector of a manipulator that is programmed in a way such that the rod moves against a rigid surface. Eighteen signals are captured and several metrics are calculated between them, such as the correlation, the mutual information and the entropy. A sensor classification scheme based on the multidimensional scaling technique is presented.
- A Multidimensional Scaling Classification of Robotic SensorsPublication . Lima, Miguel F. M.; Tenreiro Machado, J. A.This chapter analyzes the signals captured during impacts and vibrations of a mechanical manipulator. Eighteen signals are captured and several metrics are calculated between them, such as the correlation, the mutual information and the entropy. A sensor classification scheme based on the multidimensional scaling technique is presented.
- «
- 1 (current)
- 2
- 3
- »