On Inverse Kinematics with Fractional Calculus

被引：0

作者：

Babiarz, Artur ^{[1
]}

Grzejszczak, Tomasz ^{[1
]}

Legowski, Adrian ^{[1
]}

Niezabitowski, Michal ^{[1
]}

机构：

[1] Silesian Tech Univ, Inst Automat Control, 16 Akad St, PL-44100 Gliwice, Poland

来源：

2016 ASIA-PACIFIC CONFERENCE ON INTELLIGENT ROBOT SYSTEMS (ACIRS 2016) | 2016年

关键词：

manipulator; fractional calculus; inverse kinematics; path planning; PARTICLE SWARM OPTIMIZATION; MANIPULATORS;

D O I：

暂无

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

In this paper an application of the fractional calculus to path control is studied. The integer-order derivative and integral are replaced with the fractional-order ones in order to solve the inverse kinematics problem. The proposed algorithm is a modification of the existing one. In order to maintain the accuracy and to lower the memory requirements a history limit and varying order for derivation are proposed. An impact of the parameters upon a generated path is studied. Obtained results prove that using the fractional calculus may improve well known methods of solving the inverse kinematics problem.

引用

页码：127 / 131

页数：5

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