Browsing by Issue Date, starting with "2000-09-17"
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- Discrete-time fractional-order controllersPublication . Tenreiro Machado, J. A.In the last decade the progress in the areas of chaos and fractals revealed subtle relationships with the fractional calculus, leading to an increasing interest in this theory. In the field of automatic control preliminary work has already been carried out but the proposed algorithms are restricted to the frequency domain. The paper discusses the design of fractional-order driscrete-time controllers. The algorithms studied adopt the time domain, which makes them suited for z-transform analysis and driscrete-time implementation.
- Manipulability analysis of two-arm robotic systemsPublication . Ferreira, N. M. Fonseca; Tenreiro Machado, J. A.Many tasks involving manipulation require cooperation between robots. Meanwhile, it is necessary to determinate the adequate values for the robot parametrs to obtain a good performance. This paper discusses several aspects related with the manipulability of two co-operative roborts when handling objects with different lenghts and orientations. In this line of thought, a numerical tool is developed for the calculation and the graphical visualizations of the manipulability measure.