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Representation of robotic fractional dynamics in the pseudo phase plane

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Abstract

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.

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Authors and Affiliations

  1. Dept. of Electrical Engineering, School of Technology of Viseu, Campus Politécnico de Repeses, 3504-510, Viseu, Portugal

    Miguel F. M. Lima & J. A. Tenreiro Machado

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  1. Miguel F. M. Lima
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  2. J. A. Tenreiro Machado
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Correspondence to Miguel F. M. Lima.

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Lima, M.F.M., Machado, J.A.T. Representation of robotic fractional dynamics in the pseudo phase plane. Acta Mech Sin 27, 28–35 (2011). https://doi.org/10.1007/s10409-011-0405-4

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  • DOI: https://doi.org/10.1007/s10409-011-0405-4

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