@inproceedings{feaa22b150544d07a46e76901c1340ba,
title = "Manipulator path control with variable order fractional calculus",
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 varying a 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.",
keywords = "Fractional Calculus, Industrial Manipulators, Inverse Kinematics, Path Planning, Redundancy",
author = "Adrian Legowski and Michal Niezabitowski",
note = "Publisher Copyright: {\textcopyright} 2016 IEEE.; 21st International Conference on Methods and Models in Automation and Robotics, MMAR 2016 ; Conference date: 29-08-2016 Through 01-09-2016",
year = "2016",
month = sep,
day = "22",
doi = "10.1109/MMAR.2016.7575296",
language = "English",
series = "2016 21st International Conference on Methods and Models in Automation and Robotics, MMAR 2016",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "1127--1132",
booktitle = "2016 21st International Conference on Methods and Models in Automation and Robotics, MMAR 2016",
address = "United States",
}