Fractional dynamics in the trajectory control of redundant manipulators

Communications in Nonlinear Science and Numerical Simulation

Volumn 13, Issue 9, 2008, Pages 1836-1844

  da Graça Marcos, Maria ^a   Duarte, Fernando B M ^b   Tenreiro Machado, J A ^a  

^a INSTITUTO SUPERIOR DE ENGENHARIA DO PORTO   (Portugal)

^b POLYTECHNIC INSTITUTE OF VISEU   (Portugal)

Author keywords

Fourier transform; Fractional calculus; Redundant manipulators; Wavelets; Windowed Fourier transform

Indexed keywords

CHAOTIC SYSTEMS; FOURIER ANALYSIS; KINEMATICS; ROBOTICS; WAVELET ANALYSIS;

FRACTIONAL DYNAMICS; PSEUDOINVERSE CONTROL; TRAJECTORY CONTROL;

REDUNDANT MANIPULATORS;

CHAOTIC SYSTEMS; FOURIER ANALYSIS; KINEMATICS; REDUNDANT MANIPULATORS; ROBOTICS; WAVELET ANALYSIS;

EID: 41149115805     PISSN: 10075704     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.cnsns.2007.03.027     Document Type: Article

References (18)

1. Sahin Conkur E., and Buckingham R. Clarifying the definition of redundancy as used in robotics. Robotica 15 (1997) 583-586
2. Chiaverini S. Singularity-robust task-priority redundancy resolution for real time kinematic control of robot manipulators. IEEE Trans Robotic Autom 13 (1997) 398-410
3. Klein C.A., and Huang C.C. Review of pseudoinverse control for use with kinematically redundant manipulators. IEEE Trans Syst Man, Cyber 13 (1983) 245-250
4. Yoshikawa T. Foundations of robotics: analysis and control (1988), MIT Press
5. Rodney Roberts R., and Maciejewski A. Singularities, stable surfaces and repeatable behavior of kinematically redundant manipulators. Int J Robotic Res 13 (1994) 70-81
6. Bay J. Geometry and prediction of drift-free trajectories for redundant machines under pseudoinverse control. Int J Robotic Res 11 (1992) 41-52
7. Nakamura Y. Advanced robotics: redundancy and optimization (1991), Addison-Wesley
8. Doty K.L., Melchiorri C., and Bonivento C. A theory of generalized inverses applied to robotics. Int J Robotic Res 12 (1993) 1-19
9. Siciliano B. Kinematic control of redundant robot manipulators: a tutorial. J Intell Robot Syst 3 (1990) 201-212
10. Chung W.J., Youm Y., and Chung W.K. Inverse kinematics of planar redundant manipulators via virtual links with configuration index. J Robot Syst 11 (1994) 117-128
11. Seereeram S., and Wen J.T. A global approach to path planning for redundant manipulators. IEEE Trans Robotic Autom 11 (1995) 152-159
12. Fernando Duarte J.A., and Machado T. Chaotic phenomena and fractional-order dynamics in the trajectory control of redundant manipulators. Nonlinear Dynamics vol. 29 (2002), Kluwer, USA 315-342 1-4
13. Mallat S. A wavelet tour of signal processing (1999), Academic Press
14. Machado J.A.T. Analysis and design of fractional-order digital control systems. SAMS - J Syst Anal Model Sim 27 (1997) 107-122
15. Machado J.A.T. Discrete-time fractional-order controllers. FCAA - J Fract Calc Appl Anal 4 1 (2001) 47-66
16. da Graça Marcos M., Duarte F.B.M., and Tenreiro Machado J.A. Complex dynamics in the trajectory control of redundant manipulators, nonlinear science and complexity (2007), World Scientific 134-43
17. Ozaktas H.M., Zalevsky Z., and Alper Kutay M. The fractional Fourier transform with applications in optics and signal processing (2001), John Wiley and Sons Ltd.
18. Hubbard B.B. The world according to wavelets (1998), A K Peters Ltd.