Lima, MiguelMachado, J. A. Tenreiro2014-03-062014-03-0620100239-7528http://hdl.handle.net/10400.22/4127This paper presents a fractional calculus perspective in the study of signals captured during the movement of a mechanical manipulator carrying a liquid container. In order to study the signals an experimental setup is implemented. The system acquires data from the sensors, in real time, and, in a second phase, processes them through an analysis package. The analysis package runs off-line and handles the recorded data. The results show that the Fourier spectrum of several signals presents a fractional behavior. The experimental study provides useful information that can assist in the design of a control system and the trajectory planning to be used in reducing or eliminating the effect of vibrations.engFractional order systemVibrationsRoboticsSensorsFourier transformjournal article10.2478/v10175-010-0055-x