Browsing by Issue Date, starting with "1995-08"
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- Benchmarking computer systems for robot controlPublication . Machado, J. A. Tenreiro; Galhano, Alexandra M. S. F.The high computational burden posed by modern control algorithms often precludes their industrial application using present day microcomputers. We evaluate the computational load of different logical and arithmetic operations and the capabilities of several computing systems (software and hardware). Real-time limitations are alleviated through the adoption of general techniques associated with the data representation. Such techniques achieve not only a more efficient management of the computational resources but also provide a deeper insight on developments toward future computer control architectures
- WinRob: A program for teaching robot mechanics and controlPublication . Tenreiro Machado, J. A.; Galhano, AlexandraThe paper presents a program for robotics education that runs on standard IBM-PC's under the Microsoft Windows environment. The WinRob package is designed for undergraduate students and emphasis the fundamental aspects of robot modelling and control. The software is self-explanatory and uses menus, dialog boxes with figures and context-dependent on-line help. In this perspective, students are motivated to investigate on the kinematics, dynamics, trajectory planning and control in order to get insight into robotics.
- Theory of fractional integrals and derivatives: application to motion controlPublication . Tenreiro Machado, J. A.The theory of fractional derivatives and integrals (FDI's) is still in a research stage but recent progresses in the area of chaos reveal promissing aspects for future developments. In the field of automatic control systems some preliminary results are restricted to the frequency domain. In this paper a novel method for the FDI approximation is presented. The proposed algorithms adopt the time domain which makes them well suited for z-transform analysis and digital implementation. Based on the new concepts the paper shows that classical P, I and D actions are special cases of a broader paradigm.