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,
Full text not available from this repository.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 |
|---|---|
| Funders: | UNSPECIFIED |
| 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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