New formulation for an industrial robot force controller: Real-time implementation on a KUKA robot

Abstract

In this paper, a new formulation is proposed for the design of a force controller for an industrial robot. The model takes into account the complete kinematics of the system and the position response of the industrial robot controller. The proposed formulation is used to design and implement a PI controller on a KUKA robot for two different stiffness environments. Good results are obtained by using dominant pole placement method for the controller design.