Title :
Fractional-order position/force robot control
Author :
Ferreira, N.M.F. ; Machado, J.A.T. ; Cunha, J.B.
Author_Institution :
Dept. of Electr. Eng., Coimbra Inst. of Eng.
fDate :
Aug. 30 2004-Sept. 1 2004
Abstract :
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
Keywords :
cascade control; force control; manipulators; position control; robust control; cascade control; force control; fractional-order algorithm; hybrid control; position control; robotic manipulator; robustness; Force control; Grippers; Impedance; Jacobian matrices; Manipulators; Performance analysis; Robot control; Robot kinematics; Robustness; System performance;
Conference_Titel :
Computational Cybernetics, 2004. ICCC 2004. Second IEEE International Conference on
Conference_Location :
Vienna
Print_ISBN :
0-7803-8588-8
DOI :
10.1109/ICCCYB.2004.1437749
