An automatic procedure for force controller design

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.