JACIII Vol.9 No.4 pp. 379-386
doi: 10.20965/jaciii.2005.p0379


Fractional-Order Position/Force Robot Control

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

*Institute of Engineering of Coimbra, Polytechnic Institute of Coimbra, Rua Pedro Nunes -- Quinta da Nora, 3031-601 Coimbra, Portugal

**Institute of Engineering of Porto, Polytechnic Institute of Porto, Rua Dr Ant. Bernardino de Almeida, 4200-072 Porto, Portugal

***University of Trás dos Montes e Alto Douro, Ap 1013, 5000-911 Vila Real, Portugal

October 26, 2004
January 15, 2005
July 20, 2005
robotics, fractional calculus, control, force, backlash
This paper studies fractional-order (FO) position/force algorithms in the hybrid control (HC) and the cascade control (CC) of manipulators. The system performance is analyzed, in the time and frequency domains, and the effects of joint backlash and flexibility are investigated. The results show that the FO algorithms and the CC architecture have superior robustness and stability.
Cite this article as:
N. Ferreira, J. Machado, and J. Cunha, “Fractional-Order Position/Force Robot Control,” J. Adv. Comput. Intell. Intell. Inform., Vol.9 No.4, pp. 379-386, 2005.
Data files:

*This site is desgined based on HTML5 and CSS3 for modern browsers, e.g. Chrome, Firefox, Safari, Edge, Opera.

Last updated on Jul. 12, 2024