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Publicação
Position/force fractional control of mechanical manipulators
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Orientador(es)
Resumo(s)
In this paper it is studied the implementation of fractional-order algorithms in the position/force hybrid control of robotic manipulators. The system robustness and performances are analysed, in terms of time responses, and compared with other control approaches. Moreover, it is also investigated the effect of nonlinear phenomena at the robot joints such as nonlinear friction, dynamic backlash and flexibility.
Descrição
Palavras-chave
Robust control Friction Position control Force control Manipulator dynamics
Contexto Educativo
Citação
Editora
Institute of Electrical and Electronics Engineers