Fractional-order hybrid control of robot manipulators

被引：0
|
作者：
Machado, JAT [1 ]
Azenha, A [1 ]
机构：
[1] Univ Oporto, Fac Engn, Dept Elect & Comp Engn, P-4099 Oporto, Portugal
来源：
1998 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS, VOLS 1-5 | 1998年
关键词：
D O I：
暂无
中图分类号：
TP3 [计算技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper it is studied the implementation of fractional-order algorithms in the position/force hybrid control of robotic manipulators. The system robustness and performances are analysed, in terms of time responses, and compared with other control approaches. Moreover, it is also investigated The effect of nonlinear phenomena at the. robot joints such as nonlinear friction, dynamic backlash and flexibility.
引用
收藏
页码：788 / 793
页数：6
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