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...

Ausführliche Beschreibung

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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