Novel concept of fine-tuned QFT control applied to a robot manipulator
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 adap...
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| Format: | Article |
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ACTA Press
1998
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| author | Saddique, S.M. Moghavvemi, M. Tamjis, M.R. |
| author_facet | Saddique, S.M. Moghavvemi, M. Tamjis, M.R. |
| author_sort | Saddique, S.M. |
| collection | UM |
| description | 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. |
| first_indexed | 2024-03-06T05:24:42Z |
| format | Article |
| id | um.eprints-9771 |
| institution | Universiti Malaya |
| last_indexed | 2024-03-06T05:24:42Z |
| publishDate | 1998 |
| publisher | ACTA Press |
| record_format | dspace |
| spelling | um.eprints-97712017-11-23T03:03:12Z http://eprints.um.edu.my/9771/ Novel concept of fine-tuned QFT control applied to a robot manipulator Saddique, S.M. Moghavvemi, M. Tamjis, M.R. TA Engineering (General). Civil engineering (General) 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. ACTA Press 1998 Article PeerReviewed 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, |
| spellingShingle | TA Engineering (General). Civil engineering (General) Saddique, S.M. Moghavvemi, M. Tamjis, M.R. Novel concept of fine-tuned QFT control applied to a robot manipulator |
| title | Novel concept of fine-tuned QFT control applied to a robot manipulator |
| title_full | Novel concept of fine-tuned QFT control applied to a robot manipulator |
| title_fullStr | Novel concept of fine-tuned QFT control applied to a robot manipulator |
| title_full_unstemmed | Novel concept of fine-tuned QFT control applied to a robot manipulator |
| title_short | Novel concept of fine-tuned QFT control applied to a robot manipulator |
| title_sort | novel concept of fine tuned qft control applied to a robot manipulator |
| topic | TA Engineering (General). Civil engineering (General) |
| work_keys_str_mv | AT saddiquesm novelconceptoffinetunedqftcontrolappliedtoarobotmanipulator AT moghavvemim novelconceptoffinetunedqftcontrolappliedtoarobotmanipulator AT tamjismr novelconceptoffinetunedqftcontrolappliedtoarobotmanipulator |