Application of the Half-Order Derivative to Impedance Control of the 3-PUU Parallel Robot
This paper presents an extension of impedance control of robots based on fractional calculus. In classical impedance control, the end-effector reactions are proportional to the end-effector position errors through the stiffness matrix K, while damping is proportional to the first-order time-derivati...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2022-02-01
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| Series: | Actuators |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-0825/11/2/45 |