Fractional-Order Position/Force Robot Control | Zendy

N. M. Fonseca Ferreira | Zendy; J. A. Tenreiro Machado | Zendy; José BoaventuraCunha | Zendy

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Fractional-Order Position/Force Robot Control

Author(s) -

N. M. Fonseca Ferreira,

J. A. Tenreiro Machado,

José BoaventuraCunha

Publication year - 2005

Publication title -

journal of advanced computational intelligence and intelligent informatics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.172

H-Index - 20

eISSN - 1343-0130

pISSN - 1883-8014

DOI - 10.20965/jaciii.2005.p0379

Subject(s) - backlash , robustness (evolution) , computer science , cascade , control theory (sociology) , position (finance) , flexibility (engineering) , robot , stability (learning theory) , control (management) , artificial intelligence , mathematics , engineering , machine learning , biochemistry , chemistry , statistics , finance , chemical engineering , economics , gene

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

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