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
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;
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
DOI :
10.1109/ICCCYB.2006.305725
