Publicação
A fractional perspective on the trajectory control of redundant and hyper-redundant robot manipulators
| dc.contributor.author | Machado, J.A.Tenreiro | |
| dc.contributor.author | Lopes, António M. | |
| dc.date.accessioned | 2017-01-26T14:38:10Z | |
| dc.date.embargo | 2117 | |
| dc.date.issued | 2016 | |
| dc.description.abstract | 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. | pt_PT |
| dc.description.version | info:eu-repo/semantics/publishedVersion | pt_PT |
| dc.identifier.doi | http://dx.doi.org/10.1016/j.apm.2016.11.005 | pt_PT |
| dc.identifier.uri | http://hdl.handle.net/10400.22/9442 | |
| dc.language.iso | eng | pt_PT |
| dc.publisher | Elsevier | pt_PT |
| dc.relation.ispartofseries | Applied Mathematical Modelling; | |
| dc.relation.publisherversion | http://www.sciencedirect.com/science/article/pii/S0307904X1630600X | pt_PT |
| dc.subject | Redundant manipulator | pt_PT |
| dc.subject | Fractional calculus | pt_PT |
| dc.subject | Signal propagation | pt_PT |
| dc.subject | Fourier transform | pt_PT |
| dc.subject | Matrix pseudoinverse | pt_PT |
| dc.title | A fractional perspective on the trajectory control of redundant and hyper-redundant robot manipulators | pt_PT |
| dc.type | journal article | |
| dspace.entity.type | Publication | |
| oaire.citation.title | Applied Mathematical Modelling | pt_PT |
| person.familyName | Tenreiro Machado | |
| person.givenName | J. A. | |
| person.identifier.ciencia-id | 7A18-4935-5B29 | |
| person.identifier.orcid | 0000-0003-4274-4879 | |
| person.identifier.rid | M-2173-2013 | |
| person.identifier.scopus-author-id | 55989030100 | |
| rcaap.rights | closedAccess | pt_PT |
| rcaap.type | article | pt_PT |
| relation.isAuthorOfPublication | 82cd5c17-07b6-492b-b3e3-ecebdad1254f | |
| relation.isAuthorOfPublication.latestForDiscovery | 82cd5c17-07b6-492b-b3e3-ecebdad1254f |