FRACTIONAL-ORDER HARMONICS IN THE TRAJECTORY CONTROL OF REDUNDANT MANIPULATORS
نویسندگان
چکیده
منابع مشابه
Fractional dynamics in the trajectory control of redundant manipulators
Under the pseudoinverse control, robots with kinematical redundancy exhibit an undesirable chaotic joint motion which leads to an erratic behavior. This paper studies the complexity of fractional dynamics of the chaotic response. Fourier and wavelet analysis provides a deeper insight, helpful to know better the lack of repeatability problem of redundant manipulators. This perspective for the st...
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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 ...
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Several kinematic control algorithms for redundant manipulators adopt generalized inverse matrices. In this line of thought, the generalized inverse control scheme is tested through experiments that reveal the difficulties that often arise. Motivated by these problems this paper studies kinematics and dynamics of the trajectory planning scheme. The experiment confirm the non-linear and chaotic ...
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We propose a new method to smoothly deform trajectories of redundant manipulators in order to deal with unforeseen perturbations or to retarget captured motions into new environments. This method is based on the recently-developed affine deformation framework, which offers such advantages as closed-form solutions, one-step computation and no trajectory re-integration. Satisfaction of inequality...
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ژورنال
عنوان ژورنال: IFAC Proceedings Volumes
سال: 2006
ISSN: 1474-6670
DOI: 10.3182/20060719-3-pt-4902.00028