DocumentCode
2540103
Title
New formulation for an industrial robot impedance controller: Real-time implementation on a KUKA robot
Author
Bigras, P. ; Lambert, M. ; Perron, C.
Author_Institution
Ecole de Technol. Super., Montreal
fYear
2007
fDate
7-10 Oct. 2007
Firstpage
2782
Lastpage
2787
Abstract
In this paper, a new formulation is proposed for the design of an impedance controller for an industrial robot. This 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 an impedance controller on a KUKA robot interacting with the environment having two different stiffness. Good results are obtained by using the root locus method for the controller design.
Keywords
control system synthesis; industrial robots; position control; robot kinematics; KUKA robot interaction; industrial robot impedance controller; position response; robot kinematics; Control systems; Electrical equipment industry; Force control; Impedance; Industrial control; Kinematics; Linear systems; Robot control; Service robots; Torque control;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/ICSMC.2007.4413646
Filename
4413646
Link To Document