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

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

In this paper, a new formulation is proposed for the design of an impedance controller for an industrial robot. This 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...

Ausführliche Beschreibung

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Bibliographische Detailangaben
Hauptverfasser: Bigras, P., Lambert, M., Perron, C.
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Control systems
Electrical equipment industry
Force control
Impedance
Industrial control
Kinematics
Linear 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 an impedance controller for an industrial robot. This 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 an impedance controller on a KUKA robot interacting with the environment having two different stiffness. Good results are obtained by using the root locus method for the controller design.
ISSN:1062-922X
2577-1655
DOI:10.1109/ICSMC.2007.4413646