E-029
An Automatic Procedure for Force Controller Design
Authors: Ciro Natale*, Ralf Koeppe**, Gerd Hirzinger**
Affiliations: *PRISMA Lab, Dipartimento di Informatica e Sistemistica Universita`
degli Studi di Napoli Federico II
**DLR, Institute of Robotics and System Dynamics, German Aerospace Center
Abstract
In this paper the problem of designing a force controller for industrial robots with
a positional interface is addressed. An automatic design procedure to compute the
structure and the parameters of the controller is devised, to provide a useful tool
for rapid and robust setup of force control at industrial level. The synthesis of
the force controller simply requires technology parameters provided by the robot
manufacturer and a desired performance expressed in non-technical way by the user,
typically a technician. The automated design algorithm will be described in detail
and its effectiveness will be demonstrated on an industrial robot.
Ciro Natale
PRISMA Lab, Dipartimento di Informatica e Sistemistica
Universita` degli Studi di Napoli Federico II
Via Claudio 21, 80125 Napoli, Italy
cinatale@unina.it
http://disna.dis.unina.it/prisma
Ralf Koeppe, Gerd Hirzinger
DLR, Institute of Robotics and System Dynamics
German Aerospace Center
82230 Wessling, Germany
E-mail: {Ralf.Koeppe,Gerd.Hirzinger}@dlr.de