Robust Force Controller for Industrial Robots: Optimal Design and Real-Time Implementation on a KUKA Robot

Author

Bigras, Pascal ; Lambert, Michel ; Perron, Claude

Author_Institution

Ecole de Technol. Supperieure, Montreal, QC, Canada

Volume

20

Issue

2

fYear

2012

fDate

3/1/2012 12:00:00 AM

Firstpage

473

Lastpage

479

Abstract

In this brief, a new formulation is proposed for the design of a robust force controller for industrial robots with closed architecture controller. A recent model, which takes into account the complete kinematics of the system and the position response of the industrial robot controller, allows this formulation. The proposed design is based on a set of nonlinear matrix inequalities, and solved by the dual iteration algorithm. The robust controller is implemented on a KUKA robot. Good results are obtained with the proposed approach.

Keywords

control system synthesis; force control; industrial manipulators; iterative methods; linear matrix inequalities; manipulator kinematics; nonlinear control systems; optimal control; position control; robust control; KUKA robot; closed architecture controller; dual iteration algorithm; industrial robot controller; linear matrix inequality; nonlinear matrix inequalities; optimal design; position response; robotic arm; robust force controller; system kinematics; Force; Linear matrix inequalities; Robustness; Service robots; Symmetric matrices; Uncertainty; Industrial robot; linear matrix inequality (LMI); robust force controller; stiffness matrix;

fLanguage

English

Journal_Title

Control Systems Technology, IEEE Transactions on

Publisher

ieee

ISSN

1063-6536

Type

jour

DOI

10.1109/TCST.2011.2112661

Filename

5725140