P. Bigras, M. Lambert, and C. Perron
Force control, industrial robot, stiffness matrix, LMI, Dual Iteration Algorithm
In this paper, a new formulation is proposed for the design of a force controller for industrial robots. The model takes into account the complete kinematics of the system and the position response of the industrial robot controller. The formulation used to design an optimal proportional integral (PI) controller is based on a set of bilinear matrix inequalities and solved by the Dual Iteration Algorithm. The optimal controller is implemented on a KUKA robot for two different stiffness environments and compared with the AMATEC industrial force controller. Better results are obtained with the proposed approach.
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