Browsing by Issue Date, starting with "2006-04"
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- An Overview of Legged RobotsPublication . Tenreiro Machado, J. A.; Silva, ManuelThe objective of this paper is to present the evolution and the state-of-theart in the area of legged locomotion systems. In a first phase different possibilities for mobile robots are discussed, namely the case of artificial legged locomotion systems, while emphasizing their advantages and limitations. In a second phase an historical overview of the evolution of these systems is presented, bearing in mind several particular cases often considered as milestones on the technological and scientific progress. After this historical timeline, some of the present day systems are examined and their performance is analyzed. In a third phase are pointed out the major areas for research and development that are presently being followed in the construction of legged robots. Finally, some of the problems still unsolved, that remain defying robotics research, are also addressed.
- Study of the Van der Pol Oscillator with Fractional DerivativesPublication . Barbosa, Ramiro; Tenreiro Machado, J. A.; Vinagre, B. M.; Calderón, A. J.In this paper we propose a modified version of the classical Van der Pol oscillator by introducing fractional-order time derivatives into the state-space model. The resulting fractional-order Van der Pol oscillator is analyzed in the time and frequency domains, by using phase portraits, spectral analysis and bifurcation diagrams. The fractional-order dynamics is illustrated through numerical simulations of the proposed schemes by using approximations to fractional-order operators. Finally, the analysis is extended to the forced Van der Pol oscillator.
- Analysis of Fractional-Order Discrete Controllers in the Presence of NonlinearitiesPublication . Barbosa, Ramiro; Tenreiro Machado, J. A.; Galhano, AlexandraPresently, the development of fractional-order controllers is one of the most promising fields of research. However, most of the work in this area addresses the case of linear systems. In this paper we consider the analysis of fractional-order control of nonlinear systems. The performance of discrete fractional-order controllers in the presence of several nonlinearities is discussed. Some results are provided that assesses the superior robustness of such algorithms.
- A Mechatronic Approach to Control of 6 DOF Parallel ManipulatorPublication . Rosario, J. M.; Dumur, D.; Tenreiro Machado, J. A.This paper presents a practical implementation, using reconfigurable computing applied to robotic problems. Through the proposal a hierarchical architecture, distributing the several control actions in growing levels of complexity and using resources of reconfigurable computing is possible to take into account the easiness of future modifications, updates and improvements in the robotic applications. A practical example is presenting using reconfigurable computing, of Stewart- Gough platform control, where the developed software and hardware are structured in independent blocks, through open architecture implementation, allowing the easy expansion of the system, better adapting the platform to the tasks associated to it. This open architecture implementation allows an easy expansion of the system and a better adaptation of the platform to its related tasks.