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...
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| creator | Bigras, P. Lambert, M. Perron, C. |
| description | 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. |
| doi_str_mv | 10.1109/ICSMC.2007.4413646 |
| format | Conference Proceeding |
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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. 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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.</description><subject>Control systems</subject><subject>Electrical equipment industry</subject><subject>Force control</subject><subject>Impedance</subject><subject>Industrial control</subject><subject>Kinematics</subject><subject>Linear systems</subject><subject>Robot control</subject><subject>Service robots</subject><subject>Torque control</subject><issn>1062-922X</issn><issn>2577-1655</issn><isbn>142440990X</isbn><isbn>9781424409907</isbn><isbn>9781424409914</isbn><isbn>1424409918</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2007</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNo1kNtKAzEYhOOhYLf2BfQmL7A152y8K4uH0qqgFXpXsskfiOyhZLeIb6-lFQZmYJjvYhC6oWRGKTF3i_LjpZwxQvRMCMqVUGdoanRBBROCGEPFORozqXVOlZQXKPsvyOYSjSlRLDeMbUYoOzAMI1zSK5T1_RchjAhajFF4hW8cutTsazvErj1kbFscW7_vhxRtjVNXdQOOzQ68bR1g17VD6uoa0j1-B1vnQ2zg0NfQQDscMX-yePm5nB_n12gUbN3D9OQTtH58WJfP-ertaVHOV3k0ZMhDFaw1hfLAhXNEOU8p99J7z1XQ3ilZCaGcqVQVZEULUEILCZxIoa3Vhk_Q7REbAWC7S7Gx6Wd7-o7_Ak7JXps</recordid><startdate>200710</startdate><enddate>200710</enddate><creator>Bigras, P.</creator><creator>Lambert, M.</creator><creator>Perron, C.</creator><general>IEEE</general><scope>6IE</scope><scope>6IH</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIO</scope></search><sort><creationdate>200710</creationdate><title>New formulation for an industrial robot impedance controller: Real-time implementation on a KUKA robot</title><author>Bigras, P. ; Lambert, M. ; Perron, C.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i90t-fbfaa986de34cc06cd113d5ddd36f7dc65b446c9b6bf5b18e64745e30547aa793</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2007</creationdate><topic>Control systems</topic><topic>Electrical equipment industry</topic><topic>Force control</topic><topic>Impedance</topic><topic>Industrial control</topic><topic>Kinematics</topic><topic>Linear systems</topic><topic>Robot control</topic><topic>Service robots</topic><topic>Torque control</topic><toplevel>online_resources</toplevel><creatorcontrib>Bigras, P.</creatorcontrib><creatorcontrib>Lambert, M.</creatorcontrib><creatorcontrib>Perron, C.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan (POP) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP) 1998-present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Bigras, P.</au><au>Lambert, M.</au><au>Perron, C.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>New formulation for an industrial robot impedance controller: Real-time implementation on a KUKA robot</atitle><btitle>2007 IEEE International Conference on Systems, Man and Cybernetics</btitle><stitle>ICSMC</stitle><date>2007-10</date><risdate>2007</risdate><spage>2782</spage><epage>2787</epage><pages>2782-2787</pages><issn>1062-922X</issn><eissn>2577-1655</eissn><isbn>142440990X</isbn><isbn>9781424409907</isbn><eisbn>9781424409914</eisbn><eisbn>1424409918</eisbn><abstract>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.</abstract><pub>IEEE</pub><doi>10.1109/ICSMC.2007.4413646</doi><tpages>6</tpages></addata></record> |
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| ispartof | 2007 IEEE International Conference on Systems, Man and Cybernetics, 2007, p.2782-2787 |
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| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Control systems Electrical equipment industry Force control Impedance Industrial control Kinematics Linear systems Robot control Service robots Torque control |
| title | New formulation for an industrial robot impedance controller: Real-time implementation on a KUKA robot |
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