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

DOI10.1016/j.apm.2016.11.005zbMath1443.70014OpenAlexW2559494585MaRDI QIDQ2281934

António M. Lopes, José António Tenreiro Machado

Publication date: 6 January 2020

Published in: Applied Mathematical Modelling (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.apm.2016.11.005

zbMATH Keywords

Fourier transformfractional calculussignal propagationredundant manipulatormatrix pseudoinverse

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Robot dynamics and control of rigid bodies (70E60) Mathematical modeling or simulation for problems pertaining to mechanics of particles and systems (70-10)

Related Items (8)

A Fourier spectral method for the nonlinear coupled space fractional Klein‐Gordon‐Schrödinger equations ⋮ Existence and discrete approximation for optimization problems governed by fractional differential equations ⋮ Numerical technique for fractional variable-order differential equation of fourth-order with delay ⋮ Accurate and robust body position trajectory tracking of six-legged walking robots with nonsingular terminal sliding mode control method ⋮ Numerical solution of multi-order fractional differential equations with multiple delays via spectral collocation methods ⋮ The design and performance analysis of multivariate fractional-order gradient-based extremum seeking approach ⋮ Normalized fractional adaptive methods for nonlinear control autoregressive systems ⋮ Modeling non-Darcian flow and solute transport in porous media with the Caputo-Fabrizio derivative

Uses Software

• Mathematica
• sysdfod
• DFOC
• mftoolbox

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