Ferreira, N. M. FonsecaTenreiro Machado, J. A.Cunha, J. Boaventura2019-04-022006-08http://hdl.handle.net/10400.22/13316This paper analyzes the dynamics and the implementation of fractional-order algorithms in the position/force control of two robots holding an object. The experiments reveal that fractional algorithms lead to performances superior to classical integer-order controllers.engForce controlManipulator dynamicsPosition controlconference object10.1109/ICCCYB.2006.305725