@inproceedings{bb1497d92ec3472cad3eaf5a35a32504,
title = "Robot path control with rational-order 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 a combination of fractional and rational 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 = "Fractional calculus, Inverse kinematics, Manipulator, Motion planning, Path planning",
author = "Adrian {\L}{\c e}gowski and Micha{\l} Niezabitowski and Tomasz Grzejszczak",
note = "Publisher Copyright: {\textcopyright} Springer International Publishing Switzerland 2016.; 9th International Conference on Intelligent Robotics and Applications, ICIRA 2016 ; Conference date: 22-08-2016 Through 24-08-2016",
year = "2016",
doi = "10.1007/978-3-319-43506-0\_34",
language = "English",
isbn = "9783319435053",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
publisher = "Springer Verlag",
pages = "384--395",
editor = "Honghai Liu and Naoyuki Kubota and Takenori Obo and Kazuo Kiguchi",
booktitle = "Intelligent Robotics and Applications - 9th International Conference, ICIRA 2016, Proceedings",
address = "Germany",
}