Fractional Order Dynamics in the Trajectory Planning of Redundant and Hyper-Redundant Manipulators

2003 ◽  
Author(s):  
Fernando B. M. Duarte ◽  
J. A. Tenreiro Machado
Keyword(s):  
Fractional Calculus ◽  
Fractional Order ◽  
Trajectory Planning ◽  
Free Space ◽  
Trajectory Optimization ◽  
Generalized Inverse ◽  
Resolution Of Singularities ◽  
Control Algorithms ◽  
Redundant Manipulators ◽  
Kinematic Control

Redundant manipulators have some advantages when compared with classical arms because they allow the trajectory optimization, both on the free space and on the presence of obstacles, and the resolution of singularities. For this type of arms the proposed kinematic control algorithms adopt generalized inverse matrices but, in general, the corresponding trajectory planning schemes show important limitations. Motivated by these problems this paper studies the pseudoinverse-based trajectory planning algorithms, using the theory of fractional calculus.

Manipulator Performance Criteria Based on Kinematic, Dynamic, and Compliance Models

1999 ◽  
Author(s):  
Mitch Pryor ◽  
Matthew Van Doren ◽  
Delbert Tesar
Keyword(s):  
Design Optimization ◽  
Trajectory Optimization ◽  
Optimal Configuration ◽  
Performance Criteria ◽  
Control Algorithms ◽  
Redundant Manipulators ◽  
Computationally Efficient ◽  
Computer Performance ◽  
Optimal Configurations ◽  
New Criteria

Abstract Currently, few criteria are available that identify a redundant robot’s ‘optimal’ configuration. Criteria developers have been compelled to design computationally efficient metrics in order to maintain necessary control cycle rates this requirement is diminishing in importance with increasing computer performance, allowing designers to implement more complex and effective criteria into the manipulator’s control algorithms. This paper presents a wide variety of criteria that will aid in pinpointing optimal configurations in redundant manipulators. In developing these criteria, the counterproductive (but often necessary) requirement of minimizing the computation rate per criterion is largely ignored. These new criteria are intended for two purposes: (1) the trajectory optimization of redundant manipulators and (2) design optimization for configuring link and joint modules in any manipulator. The criteria presented are derived from the geometric (both 1st and 2nd order), dynamic, and compliance models of a manipulator. All criteria are simulated on a 7DOF serial manipulator, and several results are presented here.

scholarly journals Trajectory planning in UAV emergency networks with potential underlaying D2D communication based on K-means

2021 ◽  
Vol 2021 (1) ◽  
Author(s):  
Shuo Zhang ◽  
Shuo Shi ◽  
Tianming Feng ◽  
Xuemai Gu
Keyword(s):  
Trajectory Planning ◽  
Trajectory Optimization ◽  
Communication Systems ◽  
Complete Coverage ◽  
Wireless System ◽  
Fifth Generation ◽  
Emergency Communications ◽  
Trajectory Length ◽  
Post Disaster ◽  
Joint Evaluation

AbstractAt present, unmanned aerial vehicles (UAVs) have been widely used in communication systems, and the fifth-generation wireless system (5G) has further promoted the vigorous development of them. The trajectory planning of UAV is an important factor that affects the timeliness and completion of missions, especially in scenarios such as emergency communications and post-disaster rescue. In this paper, we consider an emergency communication network where a UAV aims to achieve complete coverage of potential underlaying device-to-device (D2D) users. Trajectory planning issues are grouped into clustering and supplementary phases for optimization. Aiming at trajectory length and sum throughput, two trajectory planning algorithms based on K-means are proposed, respectively. In addition, in order to balance sum throughput with trajectory length, we present a joint evaluation index. Then relying on this index, a third trajectory optimization algorithm is further proposed. Simulation results show the validity of the proposed algorithms which have advantages over the well-known benchmark scheme in terms of trajectory length and sum throughput.

Mkhitar Djrbashian and his contribution to Fractional Calculus

2020 ◽  
Vol 23 (6) ◽  
pp. 1797-1809
Author(s):  
Sergei Rogosin ◽  
Maryna Dubatovskaya
Keyword(s):  
Cauchy Problem ◽  
Fractional Calculus ◽  
Fractional Order ◽  
Approximation Theory ◽  
Fractional Derivatives ◽  
Complex Analysis ◽  
Integral Transforms ◽  
Modern Theory ◽  
Survey Paper ◽  
The Cauchy Problem

Abstract This survey paper is devoted to the description of the results by M.M. Djrbashian related to the modern theory of Fractional Calculus. M.M. Djrbashian (1918-1994) is a well-known expert in complex analysis, harmonic analysis and approximation theory. Anyway, his contributions to fractional calculus, to boundary value problems for fractional order operators, to the investigation of properties of the Queen function of Fractional Calculus (the Mittag-Leffler function), to integral transforms’ theory has to be understood on a better level. Unfortunately, most of his works are not enough popular as in that time were published in Russian. The aim of this survey is to fill in the gap in the clear recognition of M.M. Djrbashian’s results in these areas. For same purpose, we decided also to translate in English one of his basic papers [21] of 1968 (joint with A.B. Nersesian, “Fractional derivatives and the Cauchy problem for differential equations of fractional order”), and were invited by the “FCAA” editors to publish its re-edited version in this same issue of the journal.

The bouncing ball and the Grünwald-Letnikov definition of fractional derivative

2021 ◽  
Vol 24 (4) ◽  
pp. 1003-1014
Author(s):  
J. A. Tenreiro Machado
Keyword(s):  
Fractional Calculus ◽  
Fractional Derivative ◽  
Fractional Order ◽  
Restitution Coefficient ◽  
Classical Physics ◽  
Bouncing Ball ◽  
Mechanical Experiment ◽  
Fractional Models ◽  
Definition Of

Abstract This paper proposes a conceptual experiment embedding the model of a bouncing ball and the Grünwald-Letnikov (GL) formulation for derivative of fractional order. The impacts of the ball with the surface are modeled by means of a restitution coefficient related to the coefficients of the GL fractional derivative. The results are straightforward to interpret under the light of the classical physics. The mechanical experiment leads to a physical perspective and allows a straightforward visualization. This strategy provides not only a motivational introduction to students of the fractional calculus, but also triggers possible discussion with regard to the use of fractional models in mechanics.

scholarly journals Nonlinear Viscoelastic-Plastic Creep Model of Rock Based on Fractional Calculus

2022 ◽  
Vol 2022 ◽  
pp. 1-7
Author(s):  
Erjian Wei ◽  
Bin Hu ◽  
Jing Li ◽  
Kai Cui ◽  
Zhen Zhang ◽  
...  
Keyword(s):  
Fractional Calculus ◽  
Fractional Order ◽  
Engineering Application ◽  
Creep Model ◽  
Nonlinear Viscoelastic ◽  
Rock Creep ◽  
Order Change ◽  
Creep Constitutive Model ◽  
Plastic Creep

A rock creep constitutive model is the core content of rock rheological mechanics theory and is of great significance for studying the long-term stability of engineering. Most of the creep models constructed in previous studies have complex types and many parameters. Based on fractional calculus theory, this paper explores the creep curve characteristics of the creep elements with the fractional order change, constructs a nonlinear viscoelastic-plastic creep model of rock based on fractional calculus, and deduces the creep constitutive equation. By using a user-defined function fitting tool of the Origin software and the Levenberg–Marquardt optimization algorithm, the creep test data are fitted and compared. The fitting curve is in good agreement with the experimental data, which shows the rationality and applicability of the proposed nonlinear viscoelastic-plastic creep model. Through sensitivity analysis of the fractional order β2 and viscoelastic coefficient ξ2, the influence of these creep parameters on rock creep is clarified. The research results show that the nonlinear viscoelastic-plastic creep model of rock based on fractional calculus constructed in this paper can well describe the creep characteristics of rock, and this model has certain theoretical significance and engineering application value for long-term engineering stability research.

scholarly journals Trajectory optimization of UAV based on Hp-adaptive Radau pseudospectral method

2021 ◽  
Vol 0 (0) ◽  
pp. 0
Author(s):  
Yi Cui ◽  
Xintong Fang ◽  
Gaoqi Liu ◽  
Bin Li
Keyword(s):  
Trajectory Planning ◽  
Trajectory Optimization ◽  
Optimization Problem ◽  
Tracking Error ◽  
Pseudospectral Method ◽  
Planning Problem ◽  
A Algorithm ◽  
Planning Scheme ◽  
Path Search ◽  
Simulation Results

<p style='text-indent:20px;'>Unmanned Aerial Vehicles (UAVs) have been extensively studied to complete the missions in recent years. The UAV trajectory planning is an important area. Different from the commonly used methods based on path search, which are difficult to consider the UAV state and dynamics constraints, so that the planned trajectory cannot be tracked completely. The UAV trajectory planning problem is considered as an optimization problem for research, considering the dynamics constraints of the UAV and the terrain obstacle constraints during flight. An hp-adaptive Radau pseudospectral method based UAV trajectory planning scheme is proposed by taking the UAV dynamics into account. Numerical experiments are carried out to show the effectiveness and superior of the proposed method. Simulation results show that the proposed method outperform the well-known RRT* and A* algorithm in terms of tracking error.</p>

scholarly journals Mathematical modelling of the mass-spring-damper system - A fractional calculus approach

2012 ◽  
Vol 22 (5) ◽  
pp. 5-11 ◽  
Author(s):  
José Francisco Gómez Aguilar ◽  
Juan Rosales García ◽  
Jesus Bernal Alvarado ◽  
Manuel Guía
Keyword(s):  
Differential Equation ◽  
Fractional Calculus ◽  
Mathematical Modelling ◽  
Fractional Differential Equation ◽  
Fractional Order ◽  
Time Derivative ◽  
System A ◽  
Fractional Differential ◽  
Mass Spring ◽  
Derivatives Of

In this paper the fractional differential equation for the mass-spring-damper system in terms of the fractional time derivatives of the Caputo type is considered. In order to be consistent with the physical equation, a new parameter is introduced. This parameter char­acterizes the existence of fractional components in the system. A relation between the fractional order time derivative and the new parameter is found. Different particular cases are analyzed

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