Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
5471028 | Applied Mathematical Modelling | 2017 | 25 Pages |
Abstract
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.
Related Topics
Physical Sciences and Engineering
Engineering
Computational Mechanics
Authors
J.A. Tenreiro Machado, António M. Lopes,