DocumentCode
335252
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
Volume
1
fYear
1994
fDate
29 June-1 July 1994
Firstpage
595
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;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1994
Print_ISBN
0-7803-1783-1
Type
conf
DOI
10.1109/ACC.1994.751809
Filename
751809
Link To Document