Ferreira, N. M. FonsecaTenreiro Machado, J. A.2019-04-022019-04-022003-06-30http://hdl.handle.net/10400.22/13327This paper presents the implementation of fractional-order algorithms in the position/force hybrid control of robotic manipulators. the system performance and robustness is analyzed in the time and frequency domains. The effect of dynamic backlash and flexibility is also investigated.engconference object10.1109/ICSMC.1998.725510