On the statistical and Fourier modelling of robot motion

J.A. Tenreiro Machado, A.M.S.F. Galhano
2000 6th International Workshop on Advanced Motion Control Proceedings  
A new method for the study and optimization of manipulator trajectories is developed. The novel feature resides on the modelling formulation. Standard system descriptions are based on a set of differential equations which, in general, require laborious computations and may be difficult to analyze. Moreover, the derived algorithms are suited to 'deterministic' tasks, such as those appearing in a repetitive work, and are not well adapted to a 'random' operation that occurs in intelligent systems
more » ... nteracting with a non-structured and changing environment. These facts motivate the development of alternative models based on distinct concepts. The proposed embedding of statistics and Fourier transform gives a new perspective towards the calculation and optimization of the robot trajectories in manipulating tasks.
doi:10.1109/amc.2000.862902 fatcat:3rxiplqhpvhejd2jxkdjx6q26a