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
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.