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ID 17839
Eprint ID
17839
FullText URL
Author
Akamatsu, Shinya
Konishi, Masami
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.
Published Date
2009-01
Publication Title
Memoirs of the Faculty of Engineering, Okayama University
Publication Title Alternative
岡山大学工学部紀要
Volume
volume43
Publisher
Faculty of Engineering, Okayama University
Publisher Alternative
岡山大学工学部
Start Page
49
End Page
54
ISSN
1349-6115
NCID
AA12014085
Content Type
Departmental Bulletin Paper
language
英語
File Version
publisher
Refereed
False
Eprints Journal Name
mfe