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Fractional Dynamics in Mechanical Manipulation

[+] Author Affiliations
Miguel F. M. Lima

Polytechnic Institute of Viseu, Viseu, Portugal

J. A. Tenreiro Machado

Polytechnic Institute of Porto, Porto, Portugal

Manuel Crisóstomo

University of Coimbra, Polo II, Coimbra, Portugal

Paper No. DETC2007-35418, pp. 313-320; 8 pages
  • ASME 2007 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5: 6th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, Parts A, B, and C
  • Las Vegas, Nevada, USA, September 4–7, 2007
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4806-X | eISBN: 0-7918-3806-4
  • Copyright © 2007 by ASME


This paper analyzes the 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 to be used in reducing or eliminating the effect of vibrations.

Copyright © 2007 by ASME



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