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
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;
Conference_Titel :
Advanced Intelligent Mechatronics, 1999. Proceedings. 1999 IEEE/ASME International Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
0-7803-5038-3
DOI :
10.1109/AIM.1999.803303
