Tenreiro Machado, J. A.Galhano, Alexandra M. S.Tar, József K.2019-04-181999-07-12http://hdl.handle.net/10400.22/13636A new method for the study and optimization of manipulator trajectories is developed. The novel feature resides on the modeling formulation. Standard system descriptions are based on a set of differential equations which, in general, require laborious computations and may be difficult to analyze. Moreover, the derived algorithms are suited to "deterministic" tasks, such as those appearing in a repetitive work, and are not well adapted to a "random" operation that occurs in intelligent systems interacting with a non-structured and changing environment. These facts motivate the development of alternative models based on distinct concepts. The proposed embedding of statistics and Fourier transform gives a new perspective towards the calculation and optimization of the robot trajectories in manipulating tasks.engManipulatorsOptimal controlPosition controlDifferential equationsControl system analysisFourier transformsconference object10.1109/ISIE.1999.798743