Some Applications of Fractional Calculus in Engineering

Figure 10

Plots of ${\mathrm{\Delta }}_{1xH}$ and ${\mathrm{\Delta }}_{1yH}$ versus $t$, with joints 1 and 2 motor actuated and joint 3 mechanical actuated and all joints motor actuated, for ${\alpha }_j=0.5$.

(a)

(b)