Encontrados 6 documentos, a visualizar página 1 de 1
A multi-objective approach for the motion planning of redundant manipulators
Marcos, Maria da Graça; Machado, J. A. Tenreiro; Azevedo-Perdicoúlis, T. P.Kinematic redundancy occurs when a manipulator possesses more degrees of freedom than those required to execute a given task. Several kinematic techniques for redundant manipulators control the gripper through the pseudo-inverse of the Jacobian, but lead to a kind of chaotic inner motion with unpredictable arm configurations. Such algorithms are not easy to adapt to optimization schemes and, moreover, often the...
O processo de desenvolvimento de interfaces gráficas de utilizador : uma aplicação
Marcos, Maria da GraçaTese de mestr.. Engenharia Electrotécnica e de Computadores. Faculdade de Engenharia. Universidade do Porto. 1998
A fractional approach for the motion planning of redundant and hyper-redundant ...
Marcos, Maria da Graça; Machado, J. A. Tenreiro; Azevedo-Perdicoúlis, T. P.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 positions. Two performance measures are defined to examine the strength and weakness of the proposed method. The posi...
Evolutionary trajectory optimization for redundant robots
Marcos, Maria da Graça; Machado, J. A. Tenreiro; Azevedo-Perdicoúlis, T. P.The trajectory planning of redundant robots is an important area of research and efficient optimization algorithms have been investigated in the last years. This paper presents a new technique that combines the closed-loop pseudoinverse method with genetic algorithms. In this case the trajectory planning is formulated as an optimization problem with constraints.
An evolutionary approach for the motion planning of redundant and hyper-redunda...
Marcos, Maria da Graça; Machado, J. A. Tenreiro; Azevedo-Perdicoúlis, T. P.The trajectory planning of redundant robots is an important area of research and efficient optimization algorithms are needed. The pseudoinverse control is not repeatable, causing drift in joint space which is undesirable for physical control. This paper presents a new technique that combines the closed-loop pseudoinverse method with genetic algorithms, leading to an optimization criterion for repeatable contro...
Some applications of fractional calculus in engineering
Machado, J. A. Tenreiro; Silva, Manuel F.; Barbosa, Ramiro S.; Jesus, Isabel S.; Reis, Cecília; Marcos, Maria da Graça; Galhano, AlexandraFractional Calculus FC goes back to the beginning of the theory of differential calculus. Nevertheless, the application of FC just emerged in the last two decades, due to the progress in the area of chaos that revealed subtle relationships with the FC concepts. In the field of dynamical systems theory some work has been carried out but the proposed models and algorithms are still in a preliminary stage of est...
| Financiadores do RCAAP | |||||||
|
|
|
|
|
|
||