DocumentCode
2203220
Title
Fractional-order hybrid control of robot manipulators
Author
Machado, J. A Tenreiro ; Azenha, Abílio
Author_Institution
Fac. de Engenharia, Porto Univ., Portugal
Volume
1
fYear
1998
fDate
11-14 Oct 1998
Firstpage
788
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Systems, Man, and Cybernetics, 1998. 1998 IEEE International Conference on
ISSN
1062-922X
Print_ISBN
0-7803-4778-1
Type
conf
DOI
10.1109/ICSMC.1998.725510
Filename
725510
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