Two cooperating manipulators with fractional controllers

• Autor(es): Ferreira, Nuno M. F. ; Machado, J. A. Tenreiro ; Tar, József K.
• Data: 2010
• Identificador Persistente: http://hdl.handle.net/10400.22/4135
• Origem: Repositório Científico do Instituto Politécnico do Porto
• Tipo de Documento: Parte ou capítulo de livro
• Idioma: Inglês

Descrição

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.