Browsing by Issue Date, starting with "1995-08-14"
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- 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.
- 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.