Optimal Controller Design for Two Arm Manipulators Using Quantitative Feedback Theory Method

摘要

Optimal Controller Design for Two Arm Manipulators Using Quantitative Feedback Theory Method Mohammad Reza Gharib, Amir Ali Amiri Moghadam, Majid Moavenian Pages 217-222 (2007 Proceedings of the 24th ISARC, Kochi, India, ISBN 978-81-904235-1-9, ISSN 2413-5844) Abstract: In this paper, a practical method to design a robust controller for a two-arm manipulator using Quantitative Feedback Theory (QFT) is proposed. As the two arm manipulators have, multivariable nonlinear transfer function, implementation of QFT technique requires first to convert its nonlinear plant into family of linear and uncertain plant sets, then an optimal robust controller will be designed for each set. In order to illustrate the utility of our algorithm we present the application of it to a two degree of freedom robot arm manipulator. An optimal robust controller is designed for tracking problem. At the end nonlinear simulation for tracking problem in an arbitrary path has been carried out which indicates successful design of controllers and prefilters. Keywords: Two Arm Manipulators, QFT, Loop Shaping, Dynamic Equations DOI: https://doi.org/10.22260/ISARC2007/0039 Download fulltext Download BibTex Download Endnote (RIS) TeX Import to Mendeley