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- Fractional-order position and force robot controlPublication . Ferreira, N. M. Fonseca; Tenreiro Machado, J. A.; Cunha, J. BoaventuraThis paper presents the implementation of fractional-order algorithms both for hybrid and cascade position/force control of robotic manipulators. The systems performance and robustness is analyzed in the time domain. The impact effects of the robot gripper with the environment are also investigated.