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Silva, Manuel F.; Machado, J. A. T.; Lopes, A. M.

Fractional-order control of a hexapod robot. (English) Zbl 1096.70004

Nonlinear Dyn. 38, No. 1-4, 417-433 (2004).
Summary: This paper studies the performance of integer and fractional-order controllers in a hexapod robot with joints at the legs having viscous friction and flexibility. For this objective the prescribed robot motion is characterized in terms of several locomotion variables. The walking performance is analysed through Nyquist stability criterion and several indices that reflect the system dynamical properties. A set of model-based experiments reveals the influence of different controller implementations upon the proposed metrics.

Cited in 32 Documents

MSC:

70E60 Robot dynamics and control of rigid bodies
70Q05 Control of mechanical systems
26A33 Fractional derivatives and integrals

Keywords:

viscous friction; flexibility; Nyquist stability criterion
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Full Text: DOI

References:

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