IMC Multi-Controller Strategies applied on a Manipulator Robot
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Date
2017-04-01
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Publisher
ALGERIAN JOURNAL OF SIGNALS AND SYSTEMS (AJSS).Vol.2, Issue 1.pp 51-62
Abstract
The paper focuses on the use of multi-controller approach to control a robot wrist (STÄUBLI robot
RX 90). The descriptions of a nonlinear mathematical model of the process have been presented with the
local parametric models around operating points. Controller design of a conventional PID, IMC control, LQG
control and Hv (loop shaping) has been described around each selected operating points for each local
parametric models. Finally , in order to show the efficiency of the proposed method, some simulation results
in CAO 3D solid-works and MATLAB environments are given.