DocumentCode
1940530
Title
Fractional Control of Two Cooperating Manipulators
Author
Ferreira, N. M Fonseca ; Machado, J. A Tenreiro ; Tar, Jòzsef K.
Author_Institution
Dept. of Electr. Eng., Inst. of Eng. of Coimbra, Coimbra
fYear
2008
fDate
27-29 Nov. 2008
Firstpage
27
Lastpage
32
Abstract
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.
Keywords
force control; manipulator dynamics; position control; force control; fractional control; fractional-order algorithm; object holding; position control; robot dynamic; two cooperating manipulator; Control systems; Force control; Grippers; Impedance; Informatics; Intelligent robots; Jacobian matrices; Manipulator dynamics; Mechanical variables control; Robot kinematics;
fLanguage
English
Publisher
ieee
Conference_Titel
Computational Cybernetics, 2008. ICCC 2008. IEEE International Conference on
Conference_Location
Stara Lesna
Print_ISBN
978-1-4244-2874-8
Electronic_ISBN
978-1-4244-2875-5
Type
conf
DOI
10.1109/ICCCYB.2008.4721373
Filename
4721373
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