Title :
IMC-based PID controllers design for a two-links SCARA robot
Author :
Suvilath, Sipaseuth ; Khongsomboun, Khamphong ; Benjanarasuth, Taworn ; Komine, Noriyuki
Author_Institution :
Int. Coll., King Mongkut´´s Inst. of Technol. Ladkrabang, Bangkok, Thailand
Abstract :
The paper presents the design of PID controllers for a two-link SCARA robot based on internal model control (IMC) technique. For the model of the two-link SCARA robot which includes an integrator, IMC filter must be selected properly so that the designed IMC controllers can be approximated as PID controllers by using Maclaurin approximation. The simulation results verify the applicability and satisfied performance of the proposed control system.
Keywords :
control system synthesis; manipulators; robotic assembly; three-term control; IMC filter; IMC-based PID controllers design; Maclaurin approximation; integrator; internal model control technique; selective compliance assembly robot arm; two-links SCARA robot; Equations; Feedback control; Low pass filters; Mathematical model; Robot kinematics; Service robots; IMC; PID; SCARA; internal model control;
Conference_Titel :
TENCON 2011 - 2011 IEEE Region 10 Conference
Conference_Location :
Bali
Print_ISBN :
978-1-4577-0256-3
DOI :
10.1109/TENCON.2011.6129267
