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

Paper:

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

Received:
October 26, 2004
Accepted:
January 15, 2005
Published:
July 20, 2005
Keywords:
robotics, fractional calculus, control, force, backlash
Abstract

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. M. Fonseca Ferreira, J. A. Tenreiro Machado, and J. Boaventura Cunha, “Fractional-Order Position/Force Robot Control,” J. Adv. Comput. Intell. Intell. Inform., Vol.9, No.4, pp. 379-386, 2005.
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