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Journal of Environmental Accounting and Management 8(1) (2019) 55--66 | DOI:10.5890/JAND.2019.03.005

Cosmin Copot

University of Antwerp, Department of Electromechanics, Op3Mech Groenenborgerlaan 171, 2020 Antwerp, Belgium

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Abstract

This paper presents the application of fractional-order control strategy for the velocity control of a manipulator robot joint. A wellknown approach for robot joint control is to use an independent controller for each joint axis with a nested structure: an outer loop which computes the desired joint velocity in order to minimize the position error; and an inner loop which ensures the required velocity of the joint. A fractional-order controller was designed, tested and implemented on a manipulator robot. The communication between the robot and the controller was established via the Robotics System Toolbox fromMatlab® and the ROS (Robot Operating System) platform. The experimental results indicate that the flexibilities of the fractional-order PI controller allows it to outperform the conventional integer-order PI controller.

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