@inproceedings{e3f7fc1e37444fada230f7cf648c931f,
title = "On inverse kinematics with 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 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, inverse kinematics, manipulator, path planning",
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.2016.7556200",
language = "English",
series = "Proceedings of 2016 Asia-Pacific Conference on Intelligent Robot Systems, ACIRS 2016",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "127--131",
booktitle = "Proceedings of 2016 Asia-Pacific Conference on Intelligent Robot Systems, ACIRS 2016",
address = "United States",
}