Two cooperating manipulators with fractional controllers

Ferreira, Nuno M. F.; Machado, J. A. Tenreiro; Tar, József K.

http://hdl.handle.net/10400.22/4135

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Authors

Ferreira, Nuno M. F.

Machado, J. A. Tenreiro

Tar, József K.

Abstract(s)

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