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Pseudoinverse trajectory control of redundant manipulators: A fractional calculus perspective

2002-05-11Conference object Restricted access
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dc.contributor.authorDuarte, Fernando B. M.
dc.contributor.authorTenreiro Machado, J. A.
dc.date.accessioned2019-04-03T13:57:53Z
dc.date.embargo2112
dc.date.issued2002-05-11
dc.description.abstractRedundant 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.pt_PT
dc.description.versionN/Apt_PT
dc.identifier.doi10.1109/ROBOT.2002.1013592pt_PT
dc.identifier.urihttp://hdl.handle.net/10400.22/13368
dc.language.isoengpt_PT
dc.publisherInstitute of Electrical and Electronics Engineerspt_PT
dc.relation.publisherversionhttps://ieeexplore.ieee.org/document/1013592pt_PT
dc.subjectPlanar manipulatorspt_PT
dc.subjectRedundantpt_PT
dc.subjectChaospt_PT
dc.subjectFractional calculuspt_PT
dc.titlePseudoinverse trajectory control of redundant manipulators: A fractional calculus perspectivept_PT
dc.typeconference object
dspace.entity.typePublication
oaire.citation.conferencePlaceWashington, D.C.pt_PT
oaire.citation.endPage8pt_PT
oaire.citation.startPage1pt_PT
oaire.citation.titleIEEE International conference on robotics and automationpt_PT
person.familyNameTenreiro Machado
person.givenNameJ. A.
person.identifier.ciencia-id7A18-4935-5B29
person.identifier.orcid0000-0003-4274-4879
person.identifier.ridM-2173-2013
person.identifier.scopus-author-id55989030100
rcaap.rightsclosedAccesspt_PT
rcaap.typeconferenceObjectpt_PT
relation.isAuthorOfPublication82cd5c17-07b6-492b-b3e3-ecebdad1254f
relation.isAuthorOfPublication.latestForDiscovery82cd5c17-07b6-492b-b3e3-ecebdad1254f

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