Title :
New formulation for an industrial robot force controller: Real-time implementation on a KUKA robot
Author :
Bigras, P. ; Lambert, M. ; Perron, C.
Author_Institution :
Ecole de Technol. Super., Montreal
Abstract :
In this paper, a new formulation is proposed for the design of a force controller for an industrial robot. The model takes into account the complete kinematics of the system and the position response of the industrial robot controller. The proposed formulation is used to design and implement a PI controller on a KUKA robot for two different stiffness environments. Good results are obtained by using dominant pole placement method for the controller design.
Keywords :
PI control; control system synthesis; force control; industrial robots; pole assignment; robot kinematics; KUKA robot; PI controller; controller design; industrial robot force controller; system kinematics; Aerospace engineering; Electrical equipment industry; Force control; Industrial control; Kinematics; Linear systems; Open loop systems; Robot control; Service robots; Torque control;
Conference_Titel :
Systems, Man and Cybernetics, 2007. ISIC. IEEE International Conference on
Conference_Location :
Montreal, Que.
Print_ISBN :
978-1-4244-0990-7
Electronic_ISBN :
978-1-4244-0991-4
DOI :
10.1109/ICSMC.2007.4413645
