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Fractional dynamics in the trajectory control of redundant manipulators

Communications in Nonlinear Science and Numerical Simulation, no. 9 (2008): 1836-1844

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Under the pseudoinverse control, robots with kinematical redundancy exhibit an undesirable chaotic joint motion which leads to an erratic behavior. This paper studies the complexity of fractional dynamics of the chaotic response. Fourier and wavelet analysis provides a deeper insight, helpful to know better the lack of repeatability probl...更多

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