The Cooperation of Two Manipulators with Fractional Controllers

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

http://hdl.handle.net/10400.22/13316

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Authors

Ferreira, N. M. Fonseca

Tenreiro Machado, J. A.

Cunha, J. Boaventura

Abstract(s)

This paper analyzes the dynamics and 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.