Ferreira, N. M. FonsecaMachado, J. A. TenreiroCunha, J. Boaventura2017-06-022017-06-022004-08-30http://hdl.handle.net/10400.22/98662004 International Conference on Computational CyberneticsThis paper presents the implementation of fractional-order algorithms both for hybrid and cascade position/force control of robotic manipulators. The system performance and robustness is analyzed in the time frequency domains. The effects joint backlash and flexibility are also investigated.engconference object10.1109/ICCCYB.2004.1437749