期刊
NONLINEAR DYNAMICS
卷 29, 期 1-4, 页码 315-342出版社
SPRINGER
DOI: 10.1023/A:1016559314798
关键词
planar manipulators; redundant manipulators; chaos; fractional calculus
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.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据