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Robust Force Controller for Industrial Robots: Optimal Design and Real-Time Implementation on a KUKA Robot

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3 Author(s)
Bigras, P. ; Ecole de Technol. Supperieure, Montreal, QC, Canada ; Lambert, M. ; Perron, C.

In 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.

Published in:

Control Systems Technology, IEEE Transactions on  (Volume:20 ,  Issue: 2 )