Title :
Fractional-order hybrid control of robot manipulators
Author :
Machado, J. A Tenreiro ; Azenha, Abílio
Author_Institution :
Fac. de Engenharia, Porto Univ., Portugal
Abstract :
In this paper it is studied the implementation of fractional-order algorithms in the position/force hybrid control of robotic manipulators. The system robustness and performances are analysed, in terms of time responses, and compared with other control approaches. Moreover, it is also investigated the effect of nonlinear phenomena at the robot joints such as nonlinear friction, dynamic backlash and flexibility.
Keywords :
force control; manipulators; position control; robust control; dynamic backlash; flexibility; fractional-order hybrid control; nonlinear friction; nonlinear phenomena; position/force hybrid control; robot joints; robot manipulators; system performance; system robustness; time responses; Control systems; Equations; Fault detection; Force control; Jacobian matrices; Manipulator dynamics; Performance analysis; Robot control; Robot kinematics; Robust control;
Conference_Titel :
Systems, Man, and Cybernetics, 1998. 1998 IEEE International Conference on
Print_ISBN :
0-7803-4778-1
DOI :
10.1109/ICSMC.1998.725510
