Ferreira, Nuno M. F.Machado, J. A. TenreiroTar, József K.2014-03-062014-03-062010978-953-307-090-2http://hdl.handle.net/10400.22/4135This paper analyzes the dynamic performance of two cooperative robot manipulators. It is studied the implementation of fractional-order algorithms in the position/force control of two cooperating robotic manipulators holding an object. The simulations reveal that fractional algorithms lead to performances superior to classical integer-order controllers.engbook part10.5772/9336