DocumentCode
3008379
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
fYear
2011
fDate
21-24 Nov. 2011
Firstpage
1030
Lastpage
1034
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;
fLanguage
English
Publisher
ieee
Conference_Titel
TENCON 2011 - 2011 IEEE Region 10 Conference
Conference_Location
Bali
ISSN
2159-3442
Print_ISBN
978-1-4577-0256-3
Type
conf
DOI
10.1109/TENCON.2011.6129267
Filename
6129267
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