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Fractional-order position/Force robot control
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Orientador(es)
Resumo(s)
This paper studies fractional order (FO) position/force algorithms in the hybrid control (HC) and the cascade control (CC) of manipulators. The system performance is analyzed in the time and frequency domains, and the effects of joined backlash and flexibility are investigated. The result show that the FO algorithms and the CC architecture have superior robustness and stability.
Descrição
Palavras-chave
Robotics Fractional Calculus Control Force Backlash