DOI | Trouver le DOI : https://doi.org/10.1109/TCST.2011.2112661 |
---|
Auteur | Rechercher : Bigras, P.; Rechercher : Lambert, M.1; Rechercher : Perron, C.1 |
---|
Affiliation | - Conseil national de recherches du Canada. Aérospatiale
|
---|
Format | Texte, Article |
---|
Sujet | 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 |
---|
Résumé | 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. |
---|
Date de publication | 2012 |
---|
Dans | |
---|
Langue | anglais |
---|
Publications évaluées par des pairs | Oui |
---|
Numéro NPARC | 21269196 |
---|
Exporter la notice | Exporter en format RIS |
---|
Signaler une correction | Signaler une correction (s'ouvre dans un nouvel onglet) |
---|
Identificateur de l’enregistrement | 271c1e15-4eaf-40d6-9a22-a8ac787c5a51 |
---|
Enregistrement créé | 2013-12-12 |
---|
Enregistrement modifié | 2020-04-21 |
---|