IMC-based PID controllers design for a two-links SCARA robot

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 co...

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Bibliographic Details
Main Authors: Suvilath, S., Khongsomboun, K., Benjanarasuth, T., Komine, N.
Format: Conference Proceeding
Language:English
Subjects:
Equations
Feedback control
IMC
internal model control
Low pass filters
Mathematical model
PID
Robot kinematics
SCARA
Service robots
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Summary: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.
ISSN:2159-3442
2159-3450
DOI:10.1109/TENCON.2011.6129267