Ferreira, N. M. FonsecaTenreiro Machado, J. A.Cunha, J. Boaventura2019-03-292019-03-292004-06-07http://hdl.handle.net/10400.22/13236This paper presents the implementation of fractional-order algorithms both for hybrid and cascade position/force control of robotic manipulators. The systems performance and robustness is analyzed in the time domain. The impact effects of the robot gripper with the environment are also investigated.engRobotPosition/force controlImpactsconference object