Title :
A QFT controller design implementation for a worm gear driven manipulator joint
Author :
May, D.C. ; Jayasuriya, Suhada
Author_Institution :
Dept. of Mech. Eng., Texas A&M Univ., College Station, TX, USA
fDate :
29 June-1 July 1994
Abstract :
Quantitative feedback theory (QFT) design technology is used in conjunction with a parametric model of a robot manipulator joint driven by a worm gear transmission. The plant family of this system contains both stable and unstable members and it is of interest to design a controller that will stabilize the entire family and provide acceptable performance. A nominal loop transfer function containing a nonminimum phase controller is shaped. It is found that controller bandwidth is a key for successful implementation.
Keywords :
control system synthesis; feedback; manipulators; stability; transfer functions; controller bandwidth; design implementation; nominal loop transfer function; nonminimum phase controller; parametric model; quantitative feedback theory controller; worm gear driven manipulator joint; Control systems; Friction; Gears; Gravity; Manipulators; Parametric statistics; Poles and zeros; Stability; Torque; Transfer functions;
Conference_Titel :
American Control Conference, 1994
Print_ISBN :
0-7803-1783-1
DOI :
10.1109/ACC.1994.751809
