• DocumentCode
    3456201
  • Title

    The Cooperation of Two Manipulators with Fractional Controllers

  • Author

    Ferreira, N. M Fonseca ; Machado, J. A Tenreiro ; Cunha, J. Boaventura

  • Author_Institution
    Dept. of Electr. Eng., Inst. of Eng. of Coimbra, Coimbra
  • fYear
    2006
  • fDate
    20-22 Aug. 2006
  • Firstpage
    1
  • Lastpage
    6
  • Abstract
    This paper analyzes the dynamics and the implementation of fractional-order algorithms in the position/force control of two robots holding an object. The experiments reveal that fractional algorithms lead to performances superior to classical integer-order controllers.
  • Keywords
    force control; manipulator dynamics; position control; force control; fractional controllers; fractional-order algorithms; integer-order controllers; manipulators; position control; Control systems; Elbow; Force control; Grippers; Impedance; Jacobian matrices; Manipulator dynamics; Mechanical variables control; Robot kinematics; Torque control;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Computational Cybernetics, 2006. ICCC 2006. IEEE International Conference on
  • Conference_Location
    Budapest
  • Print_ISBN
    1-4244-0071-6
  • Electronic_ISBN
    1-4244-0072-4
  • Type

    conf

  • DOI
    10.1109/ICCCYB.2006.305725
  • Filename
    4097686
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3456201