Pseudoinverse trajectory control of redundant manipulators: A fractional calculus perspective

Duarte, Fernando B. M.; Tenreiro Machado, J. A.

http://hdl.handle.net/10400.22/13368

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Authors

Duarte, Fernando B. M.

Tenreiro Machado, J. A.

Abstract(s)

Redundant manipulators have some advantages when compared with classical arms because they allow the trajectory optimization, both on the free space and on the presence of obstacles, and the resolution of singularities. For this type of arms the proposed kinematic control algorithms adopt generalized inverse matrices but, in general, the corresponding trajectory planning schemes show important limitations. Motivated by these problems this paper studies the chaos revealed by pseudoinverse-based trajectory planning algorithms, using the theory of fractional calculus.