Loading...
IMC-based PID controllers design for a two-links SCARA robot
Author(s)
Date Issued
December 1, 2011
Type
Conference Paper
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. © 2011 IEEE.
Citation
IEEE Region 10 Annual International Conference Proceedings TENCON, 1030-1034, 2011