Application of the Half-Order Derivative to Impedance Control of the 3-PUU Parallel Robot

This paper presents an extension of impedance control robots based on fractional calculus. In classical control, the end-effector reactions are proportional to position errors through stiffness matrix K, while damping is first-order time-derivative coordinate D. proposed approach, a half-derivative added, half-order HD. The discrete-time digital implementation derivative alters steady-state behavior, in which only term should be present. Consequently, compensation method proposed, and its effectiveness validated by multibody simulation 3-PUU parallel robot. approach can considered MIMO robotic systems PDD1/2 scheme for SISO mechatronic systems, with potential benefits transient response performance.