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Browsing by Issue Date, starting with "2002-09-05"

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  • A real time trajectory planner for 2-r robotic manipulators
    Publication . Pires, E. J. Solteiro; Tenreiro Machado, J. A.; Oliveira, P. B. de Moura
    This work proposes a real time algorithm to generate a trajectory for a 2-link planar robotic manipulator. The objective is to minimize the space/time ripple and the energy requirements or the time duration in the robot trajectories. The proposed method uses an off-line genetic algorithm to calculate every possible trajectory between all cells of the workspace grid. The resultant trajectories are saved in several trees. Then any trajectory requested is constructed, in real time, from these trees. The article presents the results for several experiments.
    2002-09-05Conference object Open access Show more
  • A fractional calculus perspective of mechanical systems modeling
    Publication . Barbosa, Ramiro; Duarte, Fernando B. M.; Tenreiro Machado, J. A.
    The area of fractional calculus (FC) goes back to the beginning of the theory of differential calculus. Nervertheless, the application of FC just emerged in the last two decades, due to the progress in the area of chaos that revealed subtle relationchips with the FC concepts. In the area of dynamical systems theory some work has been carried out but the proposed models and algorithms are still in a preliminary stage of stablishment. Having these ideas in mind, the paper discusses a FC perspective in the study of the dynamics and control of mechanical systems.
    2002-09-05Conference object Open access Show more