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ICRA
2002
IEEE

Pseudoinverse Trajectory Control of Redundant Manipulators: A Fractional Calculus Perspective

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Pseudoinverse Trajectory Control of Redundant Manipulators: A Fractional Calculus Perspective
Abstract— Redundant manipulators have some advantages when compared with classical arms because they allow the trajectory optimization, both on the free space and on the presence of obstacles, and the resolution of singularities. For this type of arms the proposed kinematic control algorithms adopt generalized inverse matrices but, in general, the corresponding trajectory planning schemes show important limitations. Motivated by these problems this paper studies the chaos revealed by the pseudoinverse-based trajectory planning algorithms, using the theory of fractional calculus. Keywords— Planar manipulators, Redundant, Chaos, Fractional calculus
Fernando B. M. Duarte, José António
Added 15 Jul 2010
Updated 15 Jul 2010
Type Conference
Year 2002
Where ICRA
Authors Fernando B. M. Duarte, José António Tenreiro Machado
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