Fractional control of two arms working in cooperation

Ferreira, N. M. Fonseca; Tenreiro Machado, J. A.; Galhano, Alexandra; Cunha, J. Boaventura

http://hdl.handle.net/10400.22/13293

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Authors

Ferreira, N. M. Fonseca

Tenreiro Machado, J. A.

Galhano, Alexandra

Cunha, J. Boaventura

Abstract(s)

This paper analyzes the performance of two cooperative robot manipulators. It is studied the implementation of fractional-order algorithms in the position/force control of two robots holding an object. The experiments reveal that fractional algorithms lead to performances superior to classical integer-order controllers.