This paper deals with the implementation of two position control systems: FOPID (Fractional Order Proportional Integral Derivative) and FOPD (FO Proportional Derivative), which are employed to control simultaneously angular positions of the base, arm, and forearm of an angular manipulator of 3DOF (3 Degrees of Freedom). The design of such control systems requires the derivation of the dynamic nonlinear model of the angular manipulator, as well as the determination of the corresponding control laws. Intensive simulation studies permitted to find out the initial values of the tuning parameters of the FOPD and FOPID controllers for realtime implementation. Good performances of the designed FOPD and FOPID control systems were verified via experimentation.

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