Author(s):
Ferreira, Nuno M. F. 
; Machado, J. A. Tenreiro ; Tar, József K.
Date: 2010
Persistent ID: http://hdl.handle.net/10400.22/4135
Origin: Repositório Científico do Instituto Politécnico do Porto
Document details
Two cooperating manipulators with fractional controllers
Description
This paper analyzes the dynamic performance of two cooperative robot manipulators. It is studied the implementation of fractional-order algorithms in the position/force control of two cooperating robotic manipulators holding an object. The simulations reveal that fractional algorithms lead to performances superior to classical integer-order controllers.
This paper analyzes the dynamic performance of two cooperative robot manipulators. It is studied the implementation of fractional-order algorithms in the position/force control of two cooperating robotic manipulators holding an object. The simulations reveal that fractional algorithms lead to performances superior to classical integer-order controllers.
Document Type
Part of book or chapter of book
Language English
Language English
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