Title :
Position/force fractional control of mechanical manipulators
Author :
Machado, J. A Tenreiro ; Azenha, Abllio
Author_Institution :
Dept. of Electr. & Comput. Eng., Porto Univ., Portugal
fDate :
29 Jun-1 Jul 1998
Abstract :
Studies the implementation of fractional-order algorithms in hybrid position/force control of robotic manipulators. The system robustness and performances are analysed in terms of time responses, and compared with other control approaches. Moreover, the effect of nonlinear phenomena at the robot joints such as nonlinear friction, dynamic backlash and flexibility is investigated
Keywords :
force control; friction; manipulator dynamics; position control; robust control; dynamic backlash; flexibility; fractional control; hybrid position/force control; mechanical manipulators; nonlinear friction; nonlinear phenomena; robustness; time responses; Equations; Fault detection; Force control; Jacobian matrices; Manipulator dynamics; Performance analysis; Robot control; Robot kinematics; Robust control; Sampling methods;
Conference_Titel :
Advanced Motion Control, 1998. AMC '98-Coimbra., 1998 5th International Workshop on
Conference_Location :
Coimbra
Print_ISBN :
0-7803-4484-7
DOI :
10.1109/AMC.1998.743539
