Robust Control of Robot Manipulator based on QFT and H ∞
نویسنده
چکیده
In this paper robust controllers have been obtained by using QFT and H∞ control techniques, to control movements of waist, shoulder and elbow of a 6-DOF manipulator. An uncertain experimental linear model of the robot, that represents the non-linearity of the dynamics system, was used to design the controllers. First, H∞ controllers were obtained by using weighting functions and then robust PIDcontrollers and pre-filters for each link of the robot were obtained by using QFT control methodology, in order to compare the dynamical performance of both types of robust controllers. Keywords—robot dynamics; robust control; robustness; uncertainty
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