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Chaotic Phenomena and Fractional-Order Dynamics in the Trajectory Control of Redundant Manipulators

2002-07Journal article Restricted access
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dc.contributor.authorDuarte, Fernando B. M.
dc.contributor.authorTenreiro Machado, J. A.
dc.date.accessioned2019-04-10T09:32:16Z
dc.date.embargo2115-04
dc.date.issued2002-07
dc.description.abstractRedundant manipulators have some advantages when compared with classicalarms because they allow the trajectory optimization, both on the freespace and on the presence of obstacles, and the resolution ofsingularities. For this type of arms the proposed kinematic controlalgorithms adopt generalized inverse matrices but, in general, thecorresponding trajectory planning schemes show important limitations.Motivated by these problems this paper studies the chaos revealed by thepseudoinverse-based trajectory planning algorithms, using the theory offractional calculus.pt_PT
dc.description.versioninfo:eu-repo/semantics/publishedVersionpt_PT
dc.identifier.doi10.1023/A:1016559314798pt_PT
dc.identifier.issn0924-090X
dc.identifier.urihttp://hdl.handle.net/10400.22/13518
dc.language.isoengpt_PT
dc.publisherSpringerpt_PT
dc.relation.publisherversionhttp://link.springer.com/article/10.1023/A:1016559314798pt_PT
dc.subjectPlanar manipulatorspt_PT
dc.subjectRedundant manipulatorspt_PT
dc.subjectChaospt_PT
dc.subjectFractional calculuspt_PT
dc.titleChaotic Phenomena and Fractional-Order Dynamics in the Trajectory Control of Redundant Manipulatorspt_PT
dc.typejournal article
dspace.entity.typePublication
oaire.citation.endPage342pt_PT
oaire.citation.startPage315pt_PT
oaire.citation.titleNonlinear Dynamicspt_PT
oaire.citation.volume29pt_PT
person.familyNameTenreiro Machado
person.givenNameJ. A.
person.identifier.orcid0000-0003-4274-4879
person.identifier.ridM-2173-2013
person.identifier.scopus-author-id55989030100
rcaap.rightsclosedAccesspt_PT
rcaap.typearticlept_PT
relation.isAuthorOfPublication82cd5c17-07b6-492b-b3e3-ecebdad1254f
relation.isAuthorOfPublication.latestForDiscovery82cd5c17-07b6-492b-b3e3-ecebdad1254f

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