Two cooperating manipulators with fractional controllers

N. M Fonseca Ferreira, J. A Tenreiro Machado, J. Tar

Research output: Contribution to journalArticle

2 Citations (Scopus)

Abstract

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.

Original languageEnglish
Pages (from-to)343-347
Number of pages5
JournalInternational Journal of Advanced Robotic Systems
Volume6
Issue number4
Publication statusPublished - Dec 2009

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Manipulators
Controllers
Force control
Position control
Robotics
Robots

ASJC Scopus subject areas

  • Software
  • Artificial Intelligence
  • Computer Science Applications

Cite this

Two cooperating manipulators with fractional controllers. / Ferreira, N. M Fonseca; Machado, J. A Tenreiro; Tar, J.

In: International Journal of Advanced Robotic Systems, Vol. 6, No. 4, 12.2009, p. 343-347.

Research output: Contribution to journalArticle

Ferreira, N. M Fonseca ; Machado, J. A Tenreiro ; Tar, J. / Two cooperating manipulators with fractional controllers. In: International Journal of Advanced Robotic Systems. 2009 ; Vol. 6, No. 4. pp. 343-347.
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