Title :
RD500 manipulator force controller design: a multiobjective approach
Author :
Folcher, Jean-Pierre ; Andriot, Claude
Author_Institution :
Lab. de Math. Appl., Ecole Nat. Superieure de Tech. Avancees, France
Abstract :
The force control of robot manipulator RD500 is presented. Then, a multiobjective robust controller synthesis approach for LTI systems subject to a passive perturbation is proposed. Finally, the design of a single-joint of the manipulator is performed and numerical experiments demonstrate the effectiveness of the proposed multiobjective approach
Keywords :
control system synthesis; force control; manipulators; perturbation techniques; robust control; LTI systems; RD500 manipulator force controller design; multiobjective robust controller synthesis approach; passive perturbation; Control systems; Design optimization; Force control; Force feedback; Friction; Manipulators; Robots; Torque control; Torque measurement; Virtual manufacturing;
Conference_Titel :
Control Applications, 1999. Proceedings of the 1999 IEEE International Conference on
Conference_Location :
Kohala Coast, HI
Print_ISBN :
0-7803-5446-X
DOI :
10.1109/CCA.1999.806736
