Cooperative Transportation of an Object based on Fractional Order Controllers

Figueiredo, Carlos M.; Couceiro, Micael S.; Ferreira, N. M. Fonseca; Tenreiro Machado, J. A.

http://hdl.handle.net/10400.22/13577

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Authors

Figueiredo, Carlos M.

Couceiro, Micael S.

Ferreira, N. M. Fonseca

Tenreiro Machado, J. A.

Abstract(s)

Advanced control techniques have been used in simulations to overcome nonlinear phenomena in order to describe the performance of robots with two rotational (RR) degrees-of-freedom (dof). Given the current state-of-the-art, fractional order algorithms lead to better performance when compared to integer order controllers. Also, the development of simulation platforms allows evaluating the best control methodology. In this context, the use of RR robots attached to mobile platforms, denoted in this paper as RR mobile robots, demonstrates a remarkable ability in manipulating and transporting objects. The present work aims to study two cooperative RR mobile robots by analyzing the manipulator’s trajectory and the forces applied to the common load. Are considered two robotic platforms based on an 8-bit microcontroller with inverse kinematics based on the Denavit-Hartenberg formulation and fractional order PID controllers inspired in the Grünwald-Letnikov definition.