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Control of Two Link SCARA Robot Using Quantitative Feedback Theory

G.S.C.N.Durga Rao , Ch.V.N.Raja, D.Narendra Kumar

SCARA Robots are mainly suitable for pick-and-place operations such as part handling, assembly, etc. Till now, many controllers are designed (like Trial and error, ZN PID and IMC etc) to control a Scara robot to meet desired position. The main drawbacks of those controllers are if plant parameter changes automatically system performance changes. In this paper, to overcome this drawback Quantitative Feedback Theory (QFT) has proposed for single and two link SCARA Robot.