Abstract: In order to make the SCARA robot has excellent tracking performance trajectory in the external interference situation, a method is proposed using the internal model control theory to design the robot controller. It uses Lagrangian method to establish SCARA robot dynamics model, and then estimates it as the internal model control model. It selects the mode filter [f(S)] to design the internal model controller [Q(S)] which satisfies the condition of zero steady-state error. The SCARA robot control law is derived under different input signal. Through the simulation, comparing it with the adaptive fuzzy sliding mode control method, the results show that, the proposed method has high precision tracking, strong anti-interference ability, and the controller parameter regulation is simple.

Key words: Selective Compliance Assembly Robot Arm（SCARA）, robot, Internal Model Control（IMC）, disturbance, unaccurate model

摘要： 为了使SCARA机器人在外界干扰和模型不精确的情况下具有优良的轨迹跟踪性能，提出一种基于内模控制原理设计SCARA机器人控制器的方法。采用拉格朗日方法获得SCARA机器人动力学模型，将其作为内模控制的估计模型;选择内模滤波器[f(S)]设计内模控制器[Q(S),]使其满足稳态误差为零的条件，通过推导得出不同输入信号下的SCARA机器人控制律。通过仿真，将其与自适应模糊滑模控制方法进行对比分析，结果表明所提出的方法轨迹跟踪精度高，抗干扰能力强，控制器参数调节简单。

关键词: 选择顺应性装配机器手臂（SCARA）, 机器人, 内模控制（IMC）, 扰动, 不精确模型