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

The manuscript develops a new perspective for studying the trajectory control of planar manipulators using the Moore-Penrose pseudoinverse. Different mechanical structures are compared, namely redundant and hyper-redundant robots. The proposed method is based on fractional calculus and fractional matrix powers. The signals can be interpreted as time-space waves propagating along the trajectory planing system. Several simulations demonstrate the performance of the novel scheme in the analysis of pseudoinverse-based closed-loop systems.