Application of Half-Derivative Damping to Cartesian Space Position Control of a SCARA-like Manipulator

In classical Cartesian space position control, KD, the end-effector follows set-point trajectory with a stiffness expressed in directions of external coordinates through matrix, K, and damping proportional to first-order derivatives errors D. This work deals fractional-order extension KDHD, which is characterized by an additional term, half-order second HD. The proposed control scheme applied SCARA-like serial manipulator elastic compensation gravity. Multibody simulation results show that was able reduce tracking error, terms mean absolute value error Integral Square Error, same amount Control Effort comparable maximum actuation torques.