Fractional-order position/force robot control


This 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 and frequency domains. The effects joint backlash and flexibility are also investigated 
DOI: 10.20965/jaciii.2005.p0379


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@article{Ferreira2004FractionalorderPR, title={Fractional-order position/force robot control}, author={Nuno M. Fonseca Ferreira and Jos{\'e} Ant{\'o}nio Tenreiro Machado and Jos{\'e} Boaventura Cunha}, journal={Second IEEE International Conference on Computational Cybernetics, 2004. ICCC 2004.}, year={2004}, pages={359-364} }