A fractional perspective on the trajectory control of redundant and hyper-redundant robot manipulators

• Type: Article in International Scientific Journal
• Date: 2017

Authors

J A Tenreiro Machado (Author) Other; António Mendes Lopes (Author) FEUP

Journal

Title: Applied Mathematical Modelling

Vol. 46

Pages: 716-726

ISSN: 0307-904X

Publisher: Elsevier

Indexing

ISI Web of Knowledge - 29 Citations

ISI Web of Science

Scopus - 31 Citations

Other information

Authenticus ID: P-00M-VWK

DOI: 10.1016/j.apm.2016.11.005

Abstract (EN): The manuscript develops a new perspective for studying the trajectory control of planar manipulators using the Moore-Penrose pseudoinverse. Different mechanical structures are compared, namely redundant and hyper-redundant robots. The proposed method is based on fractional calculus and fractional matrix powers. The signals can be interpreted as time space waves propagating along the trajectory planing system. Several simulations demonstrate the performance of the novel scheme in the analysis of pseudoinverse-based closed loop systems.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 11