On the Statistical/Harmonic modelling of mechanical manipulators
Autor(a) principal: | |
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Data de Publicação: | 1998 |
Outros Autores: | |
Tipo de documento: | Artigo |
Idioma: | eng |
Título da fonte: | Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
Texto Completo: | http://hdl.handle.net/10400.22/8892 |
Resumo: | A new approach to the analysis and design of robot manipulators is presented. The novel feature resides on a non-standard formulation to the modelling problem. Usually, system descriptions are based on a set of differential equations which in general, require laborious computations and may be difficult to analyze. These facts motivate the need of alternative models based on different mathematical concepts. The proposed statistical approach to the Fourier modelling gives clear guidelines towards the optimization of the robot kinematics and point out structural characteristics of the trajectory planning algorithms. |
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On the Statistical/Harmonic modelling of mechanical manipulatorsRobotsModellingKinematicsFourier AnalysisStatisticsA new approach to the analysis and design of robot manipulators is presented. The novel feature resides on a non-standard formulation to the modelling problem. Usually, system descriptions are based on a set of differential equations which in general, require laborious computations and may be difficult to analyze. These facts motivate the need of alternative models based on different mathematical concepts. The proposed statistical approach to the Fourier modelling gives clear guidelines towards the optimization of the robot kinematics and point out structural characteristics of the trajectory planning algorithms.Repositório Científico do Instituto Politécnico do PortoMachado, J. A. TenreiroGalhano, Alexandra M. S. F.2016-12-20T12:19:11Z19981998-01-01T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articleapplication/pdfhttp://hdl.handle.net/10400.22/8892eng0100-7386info:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2023-03-13T12:48:57Zoai:recipp.ipp.pt:10400.22/8892Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-19T17:28:40.991519Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse |
dc.title.none.fl_str_mv |
On the Statistical/Harmonic modelling of mechanical manipulators |
title |
On the Statistical/Harmonic modelling of mechanical manipulators |
spellingShingle |
On the Statistical/Harmonic modelling of mechanical manipulators Machado, J. A. Tenreiro Robots Modelling Kinematics Fourier Analysis Statistics |
title_short |
On the Statistical/Harmonic modelling of mechanical manipulators |
title_full |
On the Statistical/Harmonic modelling of mechanical manipulators |
title_fullStr |
On the Statistical/Harmonic modelling of mechanical manipulators |
title_full_unstemmed |
On the Statistical/Harmonic modelling of mechanical manipulators |
title_sort |
On the Statistical/Harmonic modelling of mechanical manipulators |
author |
Machado, J. A. Tenreiro |
author_facet |
Machado, J. A. Tenreiro Galhano, Alexandra M. S. F. |
author_role |
author |
author2 |
Galhano, Alexandra M. S. F. |
author2_role |
author |
dc.contributor.none.fl_str_mv |
Repositório Científico do Instituto Politécnico do Porto |
dc.contributor.author.fl_str_mv |
Machado, J. A. Tenreiro Galhano, Alexandra M. S. F. |
dc.subject.por.fl_str_mv |
Robots Modelling Kinematics Fourier Analysis Statistics |
topic |
Robots Modelling Kinematics Fourier Analysis Statistics |
description |
A new approach to the analysis and design of robot manipulators is presented. The novel feature resides on a non-standard formulation to the modelling problem. Usually, system descriptions are based on a set of differential equations which in general, require laborious computations and may be difficult to analyze. These facts motivate the need of alternative models based on different mathematical concepts. The proposed statistical approach to the Fourier modelling gives clear guidelines towards the optimization of the robot kinematics and point out structural characteristics of the trajectory planning algorithms. |
publishDate |
1998 |
dc.date.none.fl_str_mv |
1998 1998-01-01T00:00:00Z 2016-12-20T12:19:11Z |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/article |
format |
article |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
http://hdl.handle.net/10400.22/8892 |
url |
http://hdl.handle.net/10400.22/8892 |
dc.language.iso.fl_str_mv |
eng |
language |
eng |
dc.relation.none.fl_str_mv |
0100-7386 |
dc.rights.driver.fl_str_mv |
info:eu-repo/semantics/openAccess |
eu_rights_str_mv |
openAccess |
dc.format.none.fl_str_mv |
application/pdf |
dc.source.none.fl_str_mv |
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Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
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RCAAP |
institution |
RCAAP |
reponame_str |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
collection |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
repository.name.fl_str_mv |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
repository.mail.fl_str_mv |
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1799131381909946368 |