Novel concept of fine-tuned QFT control applied to a robot manipulator

Saddique, S.M. and Moghavvemi, M. and Tamjis, M.R. (1998) Novel concept of fine-tuned QFT control applied to a robot manipulator. International Journal of Modelling and Simulation, 18 (1). pp. 1-6. ISSN 02286203

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Abstract

This paper deals with the problems of robot control and the hardware required for study of various control algorithms on a four-degree-of-freedom laboratory-type robot. The authors investigate combining a classical high-gain controller based on quantitative feedback control theory (QFT) with an adaptive control strategy. The new technique, named "fine-tuned QFT control scheme," is applied to control a four-degree-of-freedom robot arm for trajectory tracking. The entire control scheme was implemented on an IBM-compatible personal computer to drive a four-axis robot in real time. The main results of the experiments and the hardware and software issues are presented, and some comparative studies are made.

Item Type: Article
Uncontrolled Keywords: Computer interface; Differential adaptive control; QFT; Robot manipulator
Subjects: T Technology > TA Engineering (General). Civil engineering (General)
Divisions: Faculty of Engineering
Depositing User: Ms. Norhamizah Tamizi
Date Deposited: 27 Mar 2014 08:50
Last Modified: 23 Nov 2017 03:03
URI: http://eprints.um.edu.my/id/eprint/9771

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