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
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;
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
DOI :
10.1109/ICCCYB.2008.4721373
