Publication
Fractional order dynamics in the trajectory planning of redundant and hyper-redundant manipulators
| dc.contributor.author | Duarte, Fernando B. M. | |
| dc.contributor.author | Tenreiro Machado, J. A. | |
| dc.date.accessioned | 2019-04-01T14:32:09Z | |
| dc.date.embargo | 2105 | |
| dc.date.issued | 2003-09-02 | |
| dc.description.abstract | 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 pseudoinverse-based trajectory planning algorithms, using the theory of fractional calculus. | pt_PT |
| dc.description.version | info:eu-repo/semantics/publishedVersion | pt_PT |
| dc.identifier.doi | 10.1115/DETC2003/VIB-48383 | pt_PT |
| dc.identifier.uri | http://hdl.handle.net/10400.22/13307 | |
| dc.language.iso | eng | pt_PT |
| dc.publisher | American Society of Mechanical Engineers | pt_PT |
| dc.relation.publisherversion | http://proceedings.asmedigitalcollection.asme.org/proceeding.aspx?articleid=1587812&resultClick=1 | pt_PT |
| dc.subject | Dynamics (Mechanics) | pt_PT |
| dc.subject | Trajectories (Physics) | pt_PT |
| dc.subject | Manipulators | pt_PT |
| dc.title | Fractional order dynamics in the trajectory planning of redundant and hyper-redundant manipulators | pt_PT |
| dc.type | conference object | |
| dspace.entity.type | Publication | |
| oaire.citation.conferencePlace | Chicago, USA | pt_PT |
| oaire.citation.endPage | 9 | pt_PT |
| oaire.citation.startPage | 1 | pt_PT |
| oaire.citation.title | 2003 ASIVE International design engineering technical conferencs & computers and information in engineering conference | 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 | conferenceObject | pt_PT |
| relation.isAuthorOfPublication | 82cd5c17-07b6-492b-b3e3-ecebdad1254f | |
| relation.isAuthorOfPublication.latestForDiscovery | 82cd5c17-07b6-492b-b3e3-ecebdad1254f |