A fractional approach for the motion planning of redundant and hyper-redundant manipulators
The trajectory planning of redundant robots through the pseudoinverse control leads to undesirable drift in the joint space. This paper presents a new technique to solve the inverse kinematics problem of redundant manipulators, which uses a fractional differential of order α to control the joint pos...
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| Other Authors: | , |
| Format: | article |
| Language: | eng |
| Published: |
2014
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| Subjects: | |
| Online Access: | http://hdl.handle.net/10400.22/4109 |
| Country: | Portugal |
| Oai: | oai:recipp.ipp.pt:10400.22/4109 |