JaLCDOI 10.18926/17839
FullText URL Mem_Fac_Eng_OU_43_49.pdf
Author Akamatsu, Shinya| Konishi, Masami| Imai, Jun|
Abstract In this paper, the controlled target is the SCARA robot with two links, and the object is fine control of the arm head position of the robot. To attain the object, Internal Model Control (IMC) is introduced. A nonlinear equations are for robot dynamics formulated by solving Lagrange equation, and is linearized to design control system by IMC. The controller of IMC is designed or synthesisted as the inverse system of the linearized model, and IMC filter model is selected. Also, reference filter is introduced to make the improvement of performance. The result of control performance by IMC is compared with that of PID numerically, accuracy and incoherency are confirmed.
Publication Title Memoirs of the Faculty of Engineering, Okayama University
Published Date 2009-01
Volume volume43
Start Page 49
End Page 54
ISSN 1349-6115
language 英語
File Version publisher
NAID 120002308854