| ID | 17839 |
| JaLCDOI | |
| Sort Key | 8
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| フルテキストURL | |
| 著者 |
赤松 慎也
Division of Electronic and Information System Engineering Graduate School of Natural Science and Technology Okayama University
小西 正躬
Division of Industrial Innovation Science Graduate School of Natural Science and Technology Okayama University
今井 純
Division of Industrial Innovation Science Graduate School of Natural Science and Technology Okayama University
Kaken ID
researchmap
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| 抄録 | 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.
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| 出版物タイトル |
Memoirs of the Faculty of Engineering, Okayama University
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| 発行日 | 2009-01
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| 巻 | 43巻
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| 出版者 | Faculty of Engineering, Okayama University
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| 出版者（別表記） | 岡山大学工学部
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| 開始ページ | 49
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| 終了ページ | 54
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| ISSN | 1349-6115
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| NCID | AA12014085
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| 資料タイプ |
紀要論文
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| OAI-PMH Set |
岡山大学
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| 言語 |
英語
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| 論文のバージョン | publisher
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| NAID | |
| Eprints Journal Name | mfe
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