Publication
Position/force fractional control of mechanical manipulators
| dc.contributor.author | Tenreiro Machado, J. A. | |
| dc.contributor.author | Azenha, Abílio | |
| dc.date.accessioned | 2019-04-12T14:13:56Z | |
| dc.date.embargo | 2107 | |
| dc.date.issued | 1998-06-29 | |
| dc.description.abstract | 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. | pt_PT |
| dc.description.version | info:eu-repo/semantics/publishedVersion | pt_PT |
| dc.identifier.doi | 10.1109/AMC.1998.743539 | pt_PT |
| dc.identifier.uri | http://hdl.handle.net/10400.22/13554 | |
| dc.language.iso | eng | pt_PT |
| dc.publisher | Institute of Electrical and Electronics Engineers | pt_PT |
| dc.relation.publisherversion | https://ieeexplore.ieee.org/document/743539 | pt_PT |
| dc.subject | Robust control | pt_PT |
| dc.subject | Friction | pt_PT |
| dc.subject | Position control | pt_PT |
| dc.subject | Force control | pt_PT |
| dc.subject | Manipulator dynamics | pt_PT |
| dc.title | Position/force fractional control of mechanical manipulators | pt_PT |
| dc.type | conference object | |
| dspace.entity.type | Publication | |
| oaire.citation.conferencePlace | Coimbra, 1998 | pt_PT |
| oaire.citation.endPage | 8 | pt_PT |
| oaire.citation.startPage | 1 | pt_PT |
| oaire.citation.title | 5th International Workshop on Advanced Motion Control | pt_PT |
| person.familyName | Tenreiro Machado | |
| person.givenName | J. A. | |
| person.identifier.ciencia-id | 7A18-4935-5B29 | |
| person.identifier.orcid | 0000-0003-4274-4879 | |
| person.identifier.rid | M-2173-2013 | |
| person.identifier.scopus-author-id | 55989030100 | |
| rcaap.rights | closedAccess | pt_PT |
| rcaap.type | conferenceObject | pt_PT |
| relation.isAuthorOfPublication | 82cd5c17-07b6-492b-b3e3-ecebdad1254f | |
| relation.isAuthorOfPublication.latestForDiscovery | 82cd5c17-07b6-492b-b3e3-ecebdad1254f |