Robust force controller for industrial robots: Optimal design and real-time implementation on a KUKA robot

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DOIResolve DOI: http://doi.org/10.1109/TCST.2011.2112661
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TypeArticle
Journal titleIEEE Transactions on Control Systems Technology
ISSN1063-6536
Volume20
Issue2
Article number5725140
Pages473479; # of pages: 7
SubjectDual iteration algorithm; KUKA robot; Linear matrix inequality (LMI); Non-linear matrix inequality; Optimal design; Position response; Real-time implementations; Robust controllers; Robust force; Algorithms; Controllers; Force control; Industrial robots; Industry; Linear matrix inequalities; Real time control; Stiffness matrix; Machine design
AbstractIn this brief, a new formulation is proposed for the design of a robust force controller for industrial robots with closed architecture controller. A recent model, which takes into account the complete kinematics of the system and the position response of the industrial robot controller, allows this formulation. The proposed design is based on a set of nonlinear matrix inequalities, and solved by the dual iteration algorithm. The robust controller is implemented on a KUKA robot. Good results are obtained with the proposed approach. © 2011 IEEE.
Publication date
LanguageEnglish
AffiliationNational Research Council Canada (NRC-CNRC); Aerospace (AERO-AERO)
Peer reviewedYes
NPARC number21269196
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Record identifier271c1e15-4eaf-40d6-9a22-a8ac787c5a51
Record created2013-12-12
Record modified2016-05-09
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