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Advisor(s)
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.
Description
Keywords
Force control Manipulator dynamics Position control
Citation
Publisher
Institute of Electrical and Electronics Engineers