Fractional-order hybrid control of robots manipulators

Ferreira, N. M. Fonseca; Tenreiro Machado, J. A.

http://hdl.handle.net/10400.22/13327

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Authors

Ferreira, N. M. Fonseca

Tenreiro Machado, J. A.

Abstract(s)

This paper presents the implementation of fractional-order algorithms in the position/force hybrid control of robotic manipulators. the system performance and robustness is analyzed in the time and frequency domains. The effect of dynamic backlash and flexibility is also investigated.