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Novel concept of fine-tuned QFT control applied to a robot manipulator
International Journal of Modelling and Simulation (1998)
  • Prof Mahmoud Moghavvemi, University of Malaya
  • S.M. Saddique
  • M.R. Tamjis
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.

Publication Date
1998
Citation Information
Prof Mahmoud Moghavvemi, S.M. Saddique and M.R. Tamjis. "Novel concept of fine-tuned QFT control applied to a robot manipulator" International Journal of Modelling and Simulation Vol. 18 Iss. 1 (1998)
Available at: http://works.bepress.com/mahmoud_moghavvemi/128/