Fractional dynamics in liquid manipulation

• Author(s): Lima, Miguel ; Machado, J. A. Tenreiro
• Date: 2010
• Persistent ID: http://hdl.handle.net/10400.22/4127
• Origin: Repositório Científico do Instituto Politécnico do Porto
• Subject(s): Fractional order system; Vibrations; Robotics; Sensors; Fourier transform
• Document Type: Article
• Language: English

Description

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.