New formulation for an industrial robot force controller: Real-time implementation on a KUKA robot

New formulation for an industrial robot force controller: Real-time implementation on a KUKA robot

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 co...

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Bibliographische Detailangaben
Hauptverfasser: Bigras, P., Lambert, M., Perron, C.
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Aerospace engineering
Electrical equipment industry
Force control
Industrial control
Kinematics
Linear systems
Open loop systems
Robot control
Service robots
Torque control
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Beschreibung
Zusammenfassung: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.
ISSN:1062-922X
2577-1655
DOI:10.1109/ICSMC.2007.4413645