Fractional Control of Coordinated Manipulators

被引：0
|
作者：
Fonseca Ferreira, N. M. [1 ]
Tenreiro Machado, J. A. [2 ]
机构：
[1] Inst Engn Coimbra, Dept Elect Engn, Rua Pedro Nunes, P-3031601 Coimbra, Portugal
[2] Inst Engn Porto, Dept Elect Engn, P-4200072 Porto, Portugal
来源：
JOURNAL OF ADVANCED COMPUTATIONAL INTELLIGENCE AND INTELLIGENT INFORMATICS | 2007年 / 11卷 / 09期
关键词：
control; fractional calculus; robotics; cooperating robots;
D O I：
10.20965/jaciii.2007.p1072
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
When two robots execute a coordinated motion it is required specification not only of the desired trajectory of each robot, but also of the forces exerted by the end effectors. This article discusses the fractional-order position and force control of two co-operative robots handling one object. The system robustness and performance is analyzed and compared with other control approaches. The experiments reveal that fractional algorithms lead to performances superior to classical integer-order controllers.
引用
收藏
页码：1072 / 1078
页数：7
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