Positioning control of one link arm with parametric uncertainty using QFT method

This paper presents 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 uncertainty in plant dynamics, desired control performance may not be attained because the controller is designed according to mathematical model of a plant. So it is important that the designed control system have robust control performance. In this paper, QFT robust controller is designed 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 robust performance and can suppress the unevenness of output against parametric uncertainty.