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Fractional-order harmonics in the trajectory control of redundant manipulators

2006-07Conference object Open access
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dc.contributor.authorDuarte, Fernando B. M.
dc.contributor.authorMarcos, Maria da Graça
dc.contributor.authorTenreiro Machado, J. A.
dc.date.accessioned2019-03-29T15:53:30Z
dc.date.available2019-03-29T15:53:30Z
dc.date.issued2006-07
dc.description.abstractRedundant manipulators are superior to classical arms because they 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 result reveals a chaotic phenomenon and the existence of fractional order sub-harmonics in the robot signals.pt_PT
dc.description.versionN/Apt_PT
dc.identifier.urihttp://hdl.handle.net/10400.22/13257
dc.language.isoengpt_PT
dc.relation.ispartofseriesIFAC;2006
dc.subjectRedundant Manipulatorspt_PT
dc.subjectKinematicspt_PT
dc.subjectFractional-Order Harmonicspt_PT
dc.subjectFourier Transformpt_PT
dc.subjectWindowed Fourier Transformpt_PT
dc.titleFractional-order harmonics in the trajectory control of redundant manipulatorspt_PT
dc.typeconference object
dspace.entity.typePublication
oaire.citation.conferencePlacePorto, Portugalpt_PT
oaire.citation.endPage223pt_PT
oaire.citation.startPage218pt_PT
oaire.citation.title2nd IFAC Workshop on Fractional Differentiation and its Applicationspt_PT
person.familyNameMarcos
person.familyNameTenreiro Machado
person.givenNameMaria da Graça
person.givenNameJ. A.
person.identifier.orcid0000-0003-3218-998X
person.identifier.orcid0000-0003-4274-4879
person.identifier.ridM-2173-2013
person.identifier.scopus-author-id35196599500
person.identifier.scopus-author-id55989030100
rcaap.rightsopenAccesspt_PT
rcaap.typeconferenceObjectpt_PT
relation.isAuthorOfPublication2763fcbd-c0d3-4581-b0ea-cbbbfc5e03a5
relation.isAuthorOfPublication82cd5c17-07b6-492b-b3e3-ecebdad1254f
relation.isAuthorOfPublication.latestForDiscovery82cd5c17-07b6-492b-b3e3-ecebdad1254f

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