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A fractional perspective on the trajectory control of redundant and hyper-redundant robot manipulators
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Orientador(es)
Resumo(s)
The manuscript develops a new perspective for studying the trajectory control of planar manipulators using the Moore–Penrose pseudoinverse. Different mechanical structures are compared, namely redundant and hyper-redundant robots. The proposed method is based on fractional calculus and fractional matrix powers. The signals can be interpreted as time- space waves propagating along the trajectory planing system. Several simulations demon- strate the performance of the novel scheme in the analysis of pseudoinverse-based closed- loop systems.
Descrição
Palavras-chave
Redundant manipulator Fractional calculus Signal propagation Fourier transform Matrix pseudoinverse
Contexto Educativo
Citação
Editora
Elsevier