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Complex dynamics in the trajectory control of redundant manipulators
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Orientador(es)
Resumo(s)
Redundant manipulators allow the trajectory optimization, the obstacle avoidance, and the resolution of singularities. For this type of manipulators, the kinematic control algorithms adopt generalized inverse matrices that may lead to unpredictable responses. Motivated by these problems this paper studies the complexity revealed by the trajectory planning scheme when controlling redundant manipulators. The results reveal fundamental properties of the chaotic phenomena and give a deeper insight towards the development of superior trajectory control algorithms.
Descrição
Palavras-chave
Redundant manipulators Kinematics Fourier transform Windowed fourier transform
Contexto Educativo
Citação
Editora
World Scientific