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ID 17837
Eprint ID
17837
フルテキストURL
著者
桑嶋 崇行 Dept. of Electrical and Electronic Engineering Okayama University
今井 純 Dept. of Electrical and Electronic Engineering Okayama University
小西 正躬 Dept. of Electrical and Electronic Engineering Okayama University
抄録
This paper presents method of the controller design for one link arm with parametric uncertainty. Recently, many manufacturing robots are operated in manufacturing facilities, with the aim of labor and cost saving or improvement of the productivity. Such robots need to have positioning performance of high precision. In condition that there is an uncertainty in plant dynamics, desired control performance may not be attained because the controller is designed according to the mathematical model of a plant. So it is important that the designed control system have a robust control performance. In this paper, the robust controller is designed using Quantitative Feedback Theory (QFT) for one link arm with parametric uncertainty. Simulation experiments are run for control system designed by using QFT and conventional method. The results are compared with each other and it is found that the control system designed by QFT shows a robust performance and can suppress the unevenness of output against parametric uncertainty.
発行日
2009-01
出版物タイトル
Memoirs of the Faculty of Engineering, Okayama University
出版物タイトル(別表記)
岡山大学工学部紀要
43巻
出版者
Faculty of Engineering, Okayama University
出版者(別表記)
岡山大学工学部
開始ページ
39
終了ページ
48
ISSN
1349-6115
NCID
AA12014085
資料タイプ
紀要論文
言語
English
論文のバージョン
publisher
査読
無し
Eprints Journal Name
mfe