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<p>A framework for addressing the issue of long delay time is established for the control system of the Cloud Robot Arm (CRA). To facilitate dynamic process analysis and controller design for the CRA control system, each joint of the robot arm is treated as an independent system, considering the impact of the time delay of the cloud networking. Subsequently, a controller design method based on Internal Model Control -Proportional Integral Derivative (IMC-PID) is proposed, utilizing a trade-off tuning approach between robustness and performance to handle the load torque disturbances in the CRA control system, guaranteeing the dynamic performance. The simulation results demonstrate the effectiveness of the proposed method.</p>

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Design of internal model controller based on robustness/performance tradeoff tuning for robot arm

  • 期刊论文

  • 出版模式：

    开放获取

  • 发表日期：

    2025年7月1日

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  • Li-ye Liu

摘要

A framework for addressing the issue of long delay time is established for the control system of the Cloud Robot Arm (CRA). To facilitate dynamic process analysis and controller design for the CRA control system, each joint of the robot arm is treated as an independent system, considering the impact of the time delay of the cloud networking. Subsequently, a controller design method based on Internal Model Control -Proportional Integral Derivative (IMC-PID) is proposed, utilizing a trade-off tuning approach between robustness and performance to handle the load torque disturbances in the CRA control system, guaranteeing the dynamic performance. The simulation results demonstrate the effectiveness of the proposed method.