Fractional-order position/force robot control

Ferreira, N. M. Fonseca; Tenreiro Machado, J. A.; Galhano, Alexandra; Cunha, J. Boaventura

http://hdl.handle.net/10400.22/13127

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Authors

Ferreira, N. M. Fonseca

Tenreiro Machado, J. A.

Galhano, Alexandra

Cunha, J. Boaventura

Abstract(s)

In this paper it is studied the implementation of fractional-order algorithms in position/force control of two cooperating robotic manipulaotrs. The performance and system robustness are analyzed in the time and frequency domains. The effect of backlash and flexibility at the robot joints is also investigated.