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ID 17839
Eprint ID
17839
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
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.
発行日
2009-01
出版物タイトル
Memoirs of the Faculty of Engineering, Okayama University
出版物タイトル(別表記)
岡山大学工学部紀要
43巻
出版者
Faculty of Engineering, Okayama University
出版者(別表記)
岡山大学工学部
開始ページ
49
終了ページ
54
ISSN
1349-6115
NCID
AA12014085
資料タイプ
紀要論文
言語
English
論文のバージョン
publisher
査読
無し
Eprints Journal Name
mfe