| DOI | Resolve DOI: https://doi.org/10.1109/TCST.2011.2112661 |
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| Author | Search for: Bigras, P.; Search for: Lambert, M.1; Search for: Perron, C.1 |
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| Affiliation | - National Research Council of Canada. Aerospace
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| Format | Text, Article |
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| Subject | Dual 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 |
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| Abstract | 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. © 2011 IEEE. |
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| Publication date | 2012 |
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| In | |
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| Language | English |
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| Peer reviewed | Yes |
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| NPARC number | 21269196 |
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| Export citation | Export as RIS |
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| Report a correction | Report a correction (opens in a new tab) |
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| Record identifier | 271c1e15-4eaf-40d6-9a22-a8ac787c5a51 |
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| Record created | 2013-12-12 |
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| Record modified | 2020-04-21 |
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