Dynamic Feedforward-Based Fractional Order Impedance Control for Robot Manipulator

Impedance control is widely applied in contact force for robot manipulators. The traditional impedance model linear, and has limitations describing the actual force. In addition, time-varying dynamic coupling characteristics pose critical challenges to high-speed high-precision control. this paper, a fractional order controller (FOIC) proposed industrial manipulator systematic FOIC parameters tuning strategy based on frequency-domain specifications presented. improve performance under disturbances, feedforward-based (DFF-FOIC) further developed. dynamics are investigated effectiveness of DFF-FOIC illustrated by simulation. Then, physical prototype. Our step tracking test results show that better than an integer (IOIC), achieving response with lower overshoot, less settling time, smaller integral time absolute error (ITAE) IOIC fair comparison conditions.