Robust Force Controller for Industrial Robots: Optimal Design and Real-Time Implementation on a KUKA Robot.
Pascal BigrasMichel LambertClaude PerronPublished in: IEEE Trans. Control. Syst. Technol. (2012)
Keyphrases
- optimal design
- real time
- industrial robots
- control system
- vision system
- robotic manipulator
- force control
- mobile robot
- control signals
- wheeled mobile robot
- impedance control
- motion control
- water supply
- structural design
- end effector
- visual feedback
- control loop
- robust stability
- visual servoing
- contact force
- particle swarm optimization
- path planning
- mobile robot localization
- closed loop
- control strategy
- robot manipulators
- robot control
- human robot interaction
- robotic systems
- real environment
- control architecture
- control algorithm
- tactile sensing
- autonomous robots
- biped walking
- fuzzy controller