DocumentCode
3298532
Title
An automatic procedure for force controller design
Author
Natale, C. ; Koeppe, R. ; Hirzinger, G.
Author_Institution
Dipt. di Inf. e Sistemistica, Univ. degli Studi di Napoli Federico II, Italy
fYear
1999
fDate
1999
Firstpage
967
Lastpage
972
Abstract
In this paper the problem of designing a force controller for industrial robots with a positional interface is addressed. An automatic design procedure to compute the structure and the parameters of the controller is devised, to provide a useful tool for rapid and robust setup of force control at industrial level. The synthesis of the force controller simply requires technology parameters provided by the robot manufacturer and a desired performance expressed in non-technical way by the user, typically a technician. The automated design algorithm will be described in detail and its effectiveness will be demonstrated on an industrial robot
Keywords
control system synthesis; force control; industrial robots; automated design; force controller design; industrial robots; positional interface; Algorithm design and analysis; Automatic control; Computer industry; Force control; Industrial control; Manufacturing industries; Robot control; Robotics and automation; Robust control; Service robots;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Intelligent Mechatronics, 1999. Proceedings. 1999 IEEE/ASME International Conference on
Conference_Location
Atlanta, GA
Print_ISBN
0-7803-5038-3
Type
conf
DOI
10.1109/AIM.1999.803303
Filename
803303
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