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Control of parallel flexible five bar manipulator using QFT

DSpace at IIT Bombay

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Title Control of parallel flexible five bar manipulator using QFT
 
Creator KARANDE, S
NATARAJ, PSV
GANDHI, PS
DESHPANDE, MM
 
Description Light weight robotic manipulators have significant advantages over their heavy counterparts in terms of efficiency of energy consumption and speed. However, they also have an inherent problem of vibrations which significantly affect their performance. Control strategies need to be developed to control their vibrational behavior. Many different control strategies have already been developed and tested on the manipulators. However, not enough work has been done to test the Quantitative Feedback Theory, a frequency domain based robust control strategy. Though several nonlinear model/control based methods have been developed for control of single or serial flexible link manipulator, the domain of parallel flexible links manipulators is unexplored. QFT, being a robust control strategy, promises to exactly tackle these uncertainties in the manipulator. This project is aimed at analyzing the performance of a QFT based controller in controlling the vibrations in flexible multilink manipulator systems.
 
Publisher IEEE
 
Date 2011-10-25T20:10:28Z
2011-12-15T09:12:07Z
2011-10-25T20:10:28Z
2011-12-15T09:12:07Z
2009
 
Type Proceedings Paper
 
Identifier 2009 IEEE INTERNATIONAL CONFERENCE ON INDUSTRIAL TECHNOLOGY, VOLS 1-3,1188-1193
978-1-4244-3506-7
http://dspace.library.iitb.ac.in/xmlui/handle/10054/15810
http://hdl.handle.net/100/2476
 
Source IEEE International Conference on Industrial Technology,Churchill, AUSTRALIA,FEB 10-13, 2009
 
Language English