Fractional-order position/force robot control
- Ferreira, N. M. Fonseca
- Machado, J. A. Tenreiro
- Cunha, J. Boaventura
Publication date
August 2004
DOI Publisher
Institute of Electrical and Electronics Engineers (IEEE)Abstract
2004 International Conference on Computational CyberneticsThis 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 frequency domains. The effects joint backlash and flexibility are also investigated.info:eu-repo/semantics/publishedVersio
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