Fractional dynamics in liquid manipulation

Bulletin of the Polish Academy of Sciences. Technical Sciences

J. MachadoDept. of Electrical Engineering, Institute of Engineering, Polytechnic Institute of Porto, 4200-072 Porto, PortugalOther articles by this author:De Gruyter OnlineGoogle Scholar¹  M. LimaDept. of Electrical Engineering, Superior School of Technology, Polytechnic Institute of Viseu, 3504-510 Viseu, PortugalOther articles by this author:De Gruyter OnlineGoogle Scholar² 

[1] Dept. of Electrical Engineering, Institute of Engineering, Polytechnic Institute of Porto, 4200-072 Porto, Portugal;Dept. of Electrical Engineering, Superior School of Technology, Polytechnic Institute of Viseu, 3504-510 Viseu, Portugal

关键词: Keywords: fractional order system;    vibrations;    robotics;    sensors;    Fourier transform;   

DOI  :  10.2478/v10175-010-0055-x

学科分类：工程和技术（综合）

来源: Polska Akademia Nauk * Centrum Upowszechniania Nauki / Polish Academy of Sciences, Center for the Advancement of Science

【 摘 要 】

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.

【 授权许可】

Unknown