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Fractional-order hybrid control of robots manipulators
Publication . Tenreiro Machado, J. A.; Azenha, Abílio
In this paper it is studied the implementation of fractional-order algorithms in the position/force hybrid control of robotic manipulators. The system robustness and performances are analysed, in terms of time responses, and compared with other control approaches. Moreover, it is also investigated the effect of nonlinear phenomena at the robot joints such as nonlinear friction, dynamic backlash and flexibility.
1998-10-11Conference object Restricted access Show more
Dynamic performance of hybrid robot controllers near singularities
Publication . Azenha, Abílio; Tenreiro Machado, J. A.
This paper studies the performance of a variable structure algorithm in the position/force hybrid of robotic manipulators. It is shown that a reformulation of the kinematic position loop using pseudo-inverses improves the system response namely in the neighbourhood of singular points. The robustness and the system dynamics are analyzed in terms of frequency and time responses.
1998-10-11Conference object Restricted access Show more