The Cooperation of Two Manipulators with Fractional Controllers

This 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.

Bibliographic Details
Main Author: Ferreira, N. M. Fonseca (author)
Other Authors: Tenreiro Machado, J. A. (author), Cunha, J. Boaventura (author)
Format: conferenceObject
Language:eng
Published: 2006
Subjects:
Force control
Manipulator dynamics
Position control
Online Access:http://hdl.handle.net/10400.22/13316
Country:Portugal
Oai:oai:recipp.ipp.pt:10400.22/13316
Description
Summary:This 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.

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