Publication
Fractional dynamics in the trajectory control of redundant manipulators
| dc.contributor.author | Marcos, Maria da Graça | |
| dc.contributor.author | Duarte, Fernando B. | |
| dc.contributor.author | Machado, J. A. Tenreiro | |
| dc.date.accessioned | 2014-06-25T10:37:47Z | |
| dc.date.available | 2014-06-25T10:37:47Z | |
| dc.date.issued | 2008 | |
| dc.description.abstract | Under the pseudoinverse control, robots with kinematical redundancy exhibit an undesirable chaotic joint motion which leads to an erratic behavior. This paper studies the complexity of fractional dynamics of the chaotic response. Fourier and wavelet analysis provides a deeper insight, helpful to know better the lack of repeatability problem of redundant manipulators. This perspective for the study of the chaotic phenomena will permit the development of superior trajectory control algorithms. | por |
| dc.identifier.doi | 10.1016/j.cnsns.2007.03.027 | pt_PT |
| dc.identifier.issn | 1007-5704 | |
| dc.identifier.uri | http://hdl.handle.net/10400.22/4569 | |
| dc.language.iso | eng | por |
| dc.peerreviewed | yes | por |
| dc.publisher | Elsevier | por |
| dc.relation.ispartofseries | Communications in Nonlinear Science and Numerical Simulation; Vol. 13, Issue 9 | |
| dc.relation.publisherversion | http://www.sciencedirect.com/science/article/pii/S1007570407000792 | por |
| dc.subject | Redundant manipulators | por |
| dc.subject | Fractional calculus | por |
| dc.subject | Fourier transform | por |
| dc.subject | Windowed Fourier transform | por |
| dc.subject | Wavelets | por |
| dc.title | Fractional dynamics in the trajectory control of redundant manipulators | por |
| dc.type | journal article | |
| dspace.entity.type | Publication | |
| oaire.citation.endPage | 1844 | por |
| oaire.citation.issue | Issue 9 | por |
| oaire.citation.startPage | 1836 | por |
| oaire.citation.title | Communications in Nonlinear Science and Numerical Simulation | por |
| oaire.citation.volume | Vol. 13 | por |
| 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 | openAccess | por |
| rcaap.type | article | por |
| relation.isAuthorOfPublication | 82cd5c17-07b6-492b-b3e3-ecebdad1254f | |
| relation.isAuthorOfPublication.latestForDiscovery | 82cd5c17-07b6-492b-b3e3-ecebdad1254f |