Title :
Internal model control for SUMI-Ink rubbing machine
Author :
Suzuki, Ryoichi ; Yamashita, Daisuke ; Mitani, Kenji ; Kobayashi, Nobuaki
Author_Institution :
Kanazawa Inst. of Technol., Ishikawa, Japan
Abstract :
In this paper, a modified internal model control (IMC) scheme for force control is proposed. The IMC has disturbance decoupling properties, good tracking performance and disturbance estimation property. In order to verify the proposed method, we apply the IMC to a SUMI-ink rubbing machine, and confirm effectiveness of the proposed properties by comparative experiments.
Keywords :
control system synthesis; force control; ink; tracking; SUMI-Ink rubbing machine; disturbance decoupling property; disturbance estimation property; force control; internal model control;
Conference_Titel :
SICE 2004 Annual Conference
Conference_Location :
Sapporo
Print_ISBN :
4-907764-22-7
