چکیده مقاله
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
کلیدواژهها
نویسندگان
M Moavenian
Assistant Professor, Mechanic Engineering
M.R Gharib
MSc Student, Mechanic Engineering
A.A Akbari
Assistant Professor, Mechanic Engineering
A.H Samiee
MSc Student, Mechanic Engineering
شیوه ارجاع
Moavenian, M and Gharib, M.R and Akbari, A.A and Samiee, A.H,1386,Linearization and Robust Control of Scara Robot used in manufacturing,02nd Tehran International Congress on Manufacturing Engineering (TICME2007),Tehran
ارائهشده در
مجموعه مقالات دومین کنفرانس بین المللی و هشتمین کنفرانس ملی مهندسی ساخت و تولید10 اسفند 1386 · تهران