Title : ( Linearization and Robust Control of Scara Robot )
Authors: Majid Moavenian , MohammadReza Gharib , Ali Akbar Akbari , amir homayun samiee daluee ,
Full TextAbstract
This paper presents a new linearization technique to be used for robust control of an SCARA robot manipulator. Some nonlinear terms in the model of robot manipulator are compensated by linear terms which are introduced in the paper. Linearization process is carried out for four arms but QFT is only applied to design feedback controller for the first arm. The research indicates that applying the proposed technique successfully overcomes obstacles for robust control of nonlinear SCARA robot.
Keywords
, SCARA, Robot, Robust Control, Linearization
@inproceedings{paperid:1008875,
author = {Moavenian, Majid and Gharib, MohammadReza and Akbari, Ali Akbar and Samiee Daluee, Amir Homayun},
title = {Linearization and Robust Control of Scara Robot},
booktitle = {Tehran International Congress on Manufacturing Engineering-TICME2007},
year = {2007},
location = {تهران, IRAN},
keywords = {SCARA; Robot; Robust Control; Linearization},
}
%0 Conference Proceedings
%T Linearization and Robust Control of Scara Robot
%A Moavenian, Majid
%A Gharib, MohammadReza
%A Akbari, Ali Akbar
%A Samiee Daluee, Amir Homayun
%J Tehran International Congress on Manufacturing Engineering-TICME2007
%D 2007
