Representation of robotic fractional dynamics in the pseudo phase plane

This paper analyses robotic signals in the perspective of fractional dynamics and the pseudo phase plane （PPP）.It is shown that the spectra of several experimental signals can be approximated by trend lines whose slope characterizes their fractional behavior.For the PPP reconstruction of each signal...

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Bibliographic Details
Published in:Acta mechanica Sinica 2011, Vol.27 (1), p.28-35
Main Authors: Lima, Miguel F. M., Machado, J. A. Tenreiro
Format: Article
Language:English
Subjects:
Approximation
Classical and Continuum Physics
Computational Intelligence
Dynamic tests
Dynamics
Engineering
Engineering Fluid Dynamics
Fractal analysis
Fractals
Planes
Research Paper
Robotics
Spectra
Theoretical and Applied Mechanics
信号频谱
分形维数
机器人
相平面
行为特征
购买力
通过时间
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Summary:This paper analyses robotic signals in the perspective of fractional dynamics and the pseudo phase plane （PPP）.It is shown that the spectra of several experimental signals can be approximated by trend lines whose slope characterizes their fractional behavior.For the PPP reconstruction of each signal,the time lags are calculated through the fractal dimension.Moreover,to obtain a smooth PPP,the noisy signals are filtered through wavelets.The behavior of the spectra reveals a relationship with the fractal dimension of the PPP and the corresponding time delay.
ISSN:0567-7718
1614-3116
DOI:10.1007/s10409-011-0405-4