Fractional-Order Impedance Control for Robot Manipulator

Impedance control is an important method in robot–environment interaction. In traditional impedance control, the damping force regarded as a linear viscoelastic model, which limits description of dynamic model system to certain extent. For robot manipulator, optimal parameters controller are key improve performance. this paper, described more accurately by fractional calculus than and fractional-order for manipulator proposed. A practical systematic tuning procedure based on frequency design developed proposed controller. The fairness comparison between integer-order addressed under same specifications. Fair comparisons two controllers via simulation experiment tests show that, step response, has better integral time square error (ITSE) result, smaller overshoot less settling terms anti-disturbance, can achieve stability with recovering ITSE index integer order