Geodesic
Application of Fractional Calculus in the Dynamical Analysis and Control of Mechanical Manipulators
Fractional calculus and applied analysis, Tome 11 (2008) no. 1, pp. 91-113.

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Fractional Calculus (FC) goes back to the beginning of the theory of differential calculus. Nevertheless, the application of FC just emerged in the last two decades. In the field of dynamical systems theory some work has been carried out but the proposed models and algorithms are still in a preliminary stage of establishment. This article illustrates several applications of fractional calculus in robot manipulator path planning and control.
Keywords: Robotics, Modeling, Fractional Calculus, Dynamics 
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Ferreira, N.; Duarte, Fernando; Lima, Miguel; Marcos, Maria; Machado, J. Application of Fractional Calculus in the Dynamical Analysis and Control of Mechanical Manipulators. Fractional calculus and applied analysis, Tome 11 (2008) no. 1, pp. 91-113. http://geodesic.mathdoc.fr/item/FCAA_2008_11_1_a5/