@inproceedings{32161717862545739efe61767ad0eb92,
title = "Manipulator path control with both integer and non-integer order derivative operators",
abstract = "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 a combination of fractional and integer-order derivation are proposed. After reaching assumed accuracy or iteration limit the algorithm switches to integer order derivative and stops after few additional iterations. This approach allows to reduce the positional error and maintain the repeatability of fractional calculus approach. The simulated path in task space have been designed in a way that causes the instability of standard Closed Loop Pseudoinverse algorithm. Our study proves that use of fractional calculus may improve the joint paths.",
keywords = "approximation, fractional calculus, inverse kinematics, manipulator, path planning, t-integrator",
author = "Artur Babiarz and Szczak, \{Tomasz Grzej\} and Adrian Legowski and Michal Niezabitowski",
note = "Publisher Copyright: {\textcopyright} 2016 IEEE.; 2016 Asia-Pacific Conference on Intelligent Robot Systems, ACIRS 2016 ; Conference date: 20-07-2016 Through 22-07-2016",
year = "2016",
month = aug,
day = "29",
doi = "10.1109/ACIRS.2016.7556195",
language = "English",
series = "Proceedings of 2016 Asia-Pacific Conference on Intelligent Robot Systems, ACIRS 2016",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "97--101",
booktitle = "Proceedings of 2016 Asia-Pacific Conference on Intelligent Robot Systems, ACIRS 2016",
address = "United States",
}