Fractional Control of Two Cooperating Manipulators
This 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 perfor...
| Autor principal: | |
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| Outros Autores: | , |
| Formato: | conferenceObject |
| Idioma: | eng |
| Publicado em: |
2008
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| Assuntos: | |
| Texto completo: | http://hdl.handle.net/10400.22/13437 |
| País: | Portugal |
| Oai: | oai:recipp.ipp.pt:10400.22/13437 |
| Resumo: | This 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. |
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