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
相关论文
共 50 条
  • [21] Multilayer Scheme for the Adaptive Cooperative Coordinated Control of Mobile Manipulators
    Andaluz, Victor H.
    Canseco, Paul A.
    Rosales, Andres
    Roberti, Flavio
    Carelli, Ricardo
    38TH ANNUAL CONFERENCE ON IEEE INDUSTRIAL ELECTRONICS SOCIETY (IECON 2012), 2012, : 2737 - 2743
  • [22] Adaptive neural network feedback linearization control of coordinated manipulators
    Ge, SS
    Lee, TH
    Woon, LC
    MOTION CONTROL (MC'98), 1999, : 315 - 320
  • [23] Research on the Method and Experiment of the Coordinated Control for Wheeled mobile manipulators
    Gao, Chunyan
    Zhang, Minglu
    Liu, Ruisu
    2008 IEEE INTERNATIONAL CONFERENCE ON AUTOMATION AND LOGISTICS, VOLS 1-6, 2008, : 2386 - 2390
  • [24] Recursive algorithm for adaptive control of coordinated multiple manipulators/fingers
    Zhu, Wenhong
    Xi, Yugeng
    Jiang, Zhuojun
    Zidonghua Xuebao/Acta Automatica Sinica, 1997, 23 (05): : 613 - 620
  • [25] Safe and Coordinated Hierarchical Receding Horizon Control for Mobile Manipulators
    Leu, Jessica
    Lim, Rachel
    Tomizuka, Masayoshi
    2020 AMERICAN CONTROL CONFERENCE (ACC), 2020, : 2143 - 2149
  • [26] Robust Anti-Disturbance Coordinated Control for Multiple Manipulators
    Fu, Jianting
    Li, Yankai
    Yin, Shaoyun
    Zheng, Bin
    Yuan, Jiahu
    IEEE ACCESS, 2020, 8 : 95897 - 95905
  • [27] Fractional-order hybrid control of robotic manipulators
    Ferreira, NMF
    Machado, JAT
    PROCEEDINGS OF THE 11TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS 2003, VOL 1-3, 2003, : 393 - 398
  • [28] Fractional-order hybrid control of robot manipulators
    Machado, JAT
    Azenha, A
    1998 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS, VOLS 1-5, 1998, : 788 - 793
  • [29] REPORT OF WORKSHOP ON COORDINATED MULTIPLE ROBOT MANIPULATORS - PLANNING, CONTROL, AND APPLICATIONS
    KOIVO, AJ
    BEKEY, GA
    IEEE JOURNAL OF ROBOTICS AND AUTOMATION, 1988, 4 (01): : 91 - 93
  • [30] Coordinated Control of Flexible Cables With Human-Like Dual Manipulators
    Lv, Naijing
    Liu, Jianhua
    Jia, Yunyi
    JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME, 2021, 143 (08):
12345