Fractional-order harmonics in the trajectory control of redundant manipulators

IFAC Proceedings Volumes (IFAC-PapersOnline)

Volumn 2, Issue PART 1, 2006, Pages 155-160

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

^a POLYTECHNIC INSTITUTE OF VISEU   (Portugal)

^b INSTITUTO SUPERIOR DE ENGENHARIA DO PORTO   (Portugal)

Author keywords

Fourier transform; Fractional order harmonics; Kinematics; Redundant manipulators; Windowed fourier transform

Indexed keywords

APPLICATION PROGRAMS; FOURIER TRANSFORMS; HARMONIC ANALYSIS; INDUSTRIAL MANIPULATORS; INVERSE PROBLEMS; KINEMATICS; REDUNDANT MANIPULATORS; TRAJECTORIES;

CHAOTIC PHENOMENA; FRACTIONAL ORDER; GENERALIZED INVERSE; RESOLUTION OF SINGULARITIES; TRAJECTORY CONTROL; TRAJECTORY OPTIMIZATION; TRAJECTORY PLANNING; WINDOWED FOURIER TRANSFORMS;

ROBOT PROGRAMMING;

EID: 77953524616     PISSN: 14746670     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.3182/20060719-3-pt-4902.00028     Document Type: Conference Paper

References (8)

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4. Siciliano, B. (1990). Kinematic Control of Redundant Robot Manipulators: A Tutorial. Journal of Intelligent and Robotic Systems, vol. 3, pp. 201-212.
5. Duarte, F. and J. A. T. Machado (2002). Chaotic Phenomena and Fractional-Order Dynamics in the Trajectory Control of Redundant Manipulators. In: Nonlinear Dynamics, vol. 29, n. 1-4, pp. 315-342. Kluwer, USA.
6. Yoshikawa, T. (1988). Foundations of Robotics: Analysis and Control. MIT Press.
7. Mallat, S. (1999). A Wavelet Tour of Signal Processing. Academic Press.
8. Ozaktas, H. M., Z. Zalevsky and M. A. Kutay (2001). The Fractional Fourier Transform with Applications in Optics and Signal Processing. John Wiley & Sons Ltd.