Performance of fractional-order control of cooperative robots

Bibliographic Details
Main Author: Ferreira, N. M Fonseca
Publication Date: 2009
Other Authors: Tenreiro Machado, J. A.
Language: eng
Source: Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)
Download full: http://hdl.handle.net/10400.22/13654
Summary: In this paper it is studied the implementation of fractional-order algorithms in the position/force control of two cooperating robotic manipulators. The system performance is analyzed in the time and frequency domains. The effect of backlash and flexibility at the robot joints is also investigated.
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spelling Performance of fractional-order control of cooperative robotsFractional calculusFractional derivativeRobotsCooperationPositionForceTaskIn this paper it is studied the implementation of fractional-order algorithms in the position/force control of two cooperating robotic manipulators. The system performance is analyzed in the time and frequency domains. The effect of backlash and flexibility at the robot joints is also investigated.REPOSITÓRIO P.PORTOFerreira, N. M FonsecaTenreiro Machado, J. A.2019-04-18T11:27:26Z2009-112009-11-01T00:00:00Zconference objectinfo:eu-repo/semantics/publishedVersionapplication/pdfhttp://hdl.handle.net/10400.22/13654enginfo:eu-repo/semantics/openAccessreponame:Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)instname:FCCN, serviços digitais da FCT – Fundação para a Ciência e a Tecnologiainstacron:RCAAP2025-04-02T03:17:27Zoai:recipp.ipp.pt:10400.22/13654Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireinfo@rcaap.ptopendoar:https://opendoar.ac.uk/repository/71602025-05-29T00:50:01.365141Repositórios Científicos de Acesso Aberto de Portugal (RCAAP) - FCCN, serviços digitais da FCT – Fundação para a Ciência e a Tecnologiafalse
dc.title.none.fl_str_mv Performance of fractional-order control of cooperative robots
title Performance of fractional-order control of cooperative robots
spellingShingle Performance of fractional-order control of cooperative robots
Ferreira, N. M Fonseca
Fractional calculus
Fractional derivative
Robots
Cooperation
Position
Force
Task
title_short Performance of fractional-order control of cooperative robots
title_full Performance of fractional-order control of cooperative robots
title_fullStr Performance of fractional-order control of cooperative robots
title_full_unstemmed Performance of fractional-order control of cooperative robots
title_sort Performance of fractional-order control of cooperative robots
author Ferreira, N. M Fonseca
author_facet Ferreira, N. M Fonseca
Tenreiro Machado, J. A.
author_role author
author2 Tenreiro Machado, J. A.
author2_role author
dc.contributor.none.fl_str_mv REPOSITÓRIO P.PORTO
dc.contributor.author.fl_str_mv Ferreira, N. M Fonseca
Tenreiro Machado, J. A.
dc.subject.por.fl_str_mv Fractional calculus
Fractional derivative
Robots
Cooperation
Position
Force
Task
topic Fractional calculus
Fractional derivative
Robots
Cooperation
Position
Force
Task
description In this paper it is studied the implementation of fractional-order algorithms in the position/force control of two cooperating robotic manipulators. The system performance is analyzed in the time and frequency domains. The effect of backlash and flexibility at the robot joints is also investigated.
publishDate 2009
dc.date.none.fl_str_mv 2009-11
2009-11-01T00:00:00Z
2019-04-18T11:27:26Z
dc.type.driver.fl_str_mv conference object
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://hdl.handle.net/10400.22/13654
url http://hdl.handle.net/10400.22/13654
dc.language.iso.fl_str_mv eng
language eng
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.source.none.fl_str_mv reponame:Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)
instname:FCCN, serviços digitais da FCT – Fundação para a Ciência e a Tecnologia
instacron:RCAAP
instname_str FCCN, serviços digitais da FCT – Fundação para a Ciência e a Tecnologia
instacron_str RCAAP
institution RCAAP
reponame_str Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)
collection Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)
repository.name.fl_str_mv Repositórios Científicos de Acesso Aberto de Portugal (RCAAP) - FCCN, serviços digitais da FCT – Fundação para a Ciência e a Tecnologia
repository.mail.fl_str_mv info@rcaap.pt
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