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