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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 dynamics and the implementation of fractional-order algorithms in the position/force control of two robots holding an object. The experiments reveal that fractional algorithms lead to performances superior to classical integer-order controllers.
This paper analyzes the signals captured during impacts and vibrations of a mechanical manipulator. The signals are treated through signal processing tools such as the fast Fourier transform and the windowed Fourier transform. The Fourier spectrum of several signals presents a noninteger behavior. The experimental study provides useful information that can assist in the design of a control system...
This paper presents the implementation of fractional-order algorithms both for hybrid and cascade position/force control of robotic manipulators. The system performance and robustness is analyzed in the time and frequency domains. The effects joint backlash and flexibility are also investigated
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