DocumentCode
3306979
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.
fYear
2004
fDate
Aug. 30 2004-Sept. 1 2004
Firstpage
359
Lastpage
364
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Computational Cybernetics, 2004. ICCC 2004. Second IEEE International Conference on
Conference_Location
Vienna
Print_ISBN
0-7803-8588-8
Type
conf
DOI
10.1109/ICCCYB.2004.1437749
Filename
1437749
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