Fractional dynamics in liquid manipulation
This paper presents a fractional calculus perspective in the study of signals captured during the movement of a mechanical manipulator carrying a liquid container. In order to study the signals an experimental setup is implemented. The system acquires data from the sensors, in real time, and, in a s...
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| Format: | article |
| Language: | eng |
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2014
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| Online Access: | http://hdl.handle.net/10400.22/4127 |
| Country: | Portugal |
| Oai: | oai:recipp.ipp.pt:10400.22/4127 |
| Summary: | This paper presents a fractional calculus perspective in the study of signals captured during the movement of a mechanical manipulator carrying a liquid container. In order to study the signals an experimental setup is implemented. The system acquires data from the sensors, in real time, and, in a second phase, processes them through an analysis package. The analysis package runs off-line and handles the recorded data. The results show that the Fourier spectrum of several signals presents a fractional behavior. The experimental study provides useful information that can assist in the design of a control system and the trajectory planning to be used in reducing or eliminating the effect of vibrations. |
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