document: Chaotic phenomena and fractional-order dynamics in the trajectory control of redundant manipulators Redundant manipulators have some advantages when compared with classical arms because they allow the trajectory optimization , both on the free space and on the presence of obstacles , and the resolution of singularities . For this type of arms the proposed kinematic control algorithms adopt generalized inverse matrices but , in general , the corresponding trajectory planning schemes show important limitations . Motivated by these problems this paper studies the chaos revealed by the pseudoinverse-based trajectory planning algorithms , using the theory of fractional calculus
doc_bio_tags: B I O O O O O B I O B I B I O O O O O O B I O O O O B I O O O O O O O O O O O O O O O O O O O O O O O O O O B I I O B I I O O O O O O O B I I O O O O O O O O O O O O O O O O O O O O O O O O O B I
extractive_keyphrases: chaotic phenomena trajectory control redundant manipulators classical arms trajectory optimization kinematic control algorithms generalized inverse matrices trajectory planning schemes fractional calculus
abstractive_keyphrases: fractional-order dynamics