Fractional Control of Coordinated Manipulators | Zendy

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

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Fractional Control of Coordinated Manipulators

Author(s) -

N. M. Fonseca Ferreira,

J. A. Tenreiro Machado

Publication year - 2007

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.2007.p1072

Subject(s) - robustness (evolution) , computer science , robot , control theory (sociology) , trajectory , robot manipulator , position (finance) , robot end effector , robust control , control engineering , control (management) , artificial intelligence , control system , engineering , biochemistry , chemistry , physics , finance , astronomy , electrical engineering , economics , gene

When two robots execute a coordinated motion it is required specification not only of the desired trajectory of each robot, but also of the forces exerted by the end effectors. This article discusses the fractional-order position and force control of two co-operative robots handling one object. The system robustness and performance is analyzed and compared with other control approaches. The experiments reveal that fractional algorithms lead to performances superior to classical integer-order controllers.

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