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Fractional dynamics in the trajectory control of redundant manipulators
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Orientador(es)
Resumo(s)
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.
Descrição
Palavras-chave
Redundant manipulators Fractional calculus Fourier transform Windowed Fourier transform Wavelets
Contexto Educativo
Citação
Editora
Elsevier