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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ACTA Press
1998
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| Online Access: | http://eprints.um.edu.my/9771/ |
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um-9771 |
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eprints |
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um-97712017-11-23T03:03:12Z 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.; Moghavvemi, M.; Tamjis, M.R. (1998) Novel concept of fine-tuned QFT control applied to a robot manipulator. International Journal of Modelling and Simulation <http://eprints.um.edu.my/view/publication/International_Journal_of_Modelling_and_Simulation.html>, 18 (1). pp. 1-6. ISSN 02286203 http://eprints.um.edu.my/9771/ |
| repository_type |
Digital Repository |
| institution_category |
Local University |
| institution |
University Malaya |
| building |
UM Research Repository |
| collection |
Online Access |
| topic |
TA Engineering (General). Civil engineering (General) |
| 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 |
| 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. |
| format |
Article |
| author |
Saddique, S.M. Moghavvemi, M. Tamjis, M.R. |
| author_facet |
Saddique, S.M. Moghavvemi, M. Tamjis, M.R. |
| author_sort |
Saddique, S.M. |
| title |
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_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_sort |
novel concept of fine-tuned qft control applied to a robot manipulator |
| publisher |
ACTA Press |
| publishDate |
1998 |
| url |
http://eprints.um.edu.my/9771/ |
| first_indexed |
2018-09-06T05:45:38Z |
| last_indexed |
2018-09-06T05:45:38Z |
| _version_ |
1610835809122910208 |