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Implementation of control algorithms for flexible joint robots on a KUKA IR 161/60 industrial robot: Experimental results

  • Section 1: Robot Control
  • Conference paper
  • First Online:
Experimental Robotics II

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 190))

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Abstract

This paper reports on experiments with identification and control of flexible joint robots. It presents two simple modifications of a standard industrial robot controller for a KUKA IR 161/60 robot: improved trajectory generation and flexible control of the first three joints.

The flexible controller consists of a linear position dependent state feedback controller for the first axis and a nonlinear decoupling controller for the second and third axis.

This paper gives a description of modeling, identification and control design of both the linear position dependent state feedback controller and the nonlinear decoupling controller.

Tests show that the smooth trajectory gives the largest contribution to the improved dynamic performance (overshoot, oscillations tracking error), but that there is also a significant improvement of a flexible controller over a classical PID controller in terms of tracking accuracy. In addition the static error due to gravity is compensated.

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References

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Authors and Affiliations

  1. Division of Production Engineering, Machine Design and Automation (PMA), Katholieke Universiteit Leuven, Celestijnenlaan 300 B, B-3001, Leuven (Heverlee), Belgium

    M. Adams, J. Swevers, D. Torfs, J. De Schutter & H. Van Brussel

Authors
  1. M. Adams
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  2. J. Swevers
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  3. D. Torfs
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  4. J. De Schutter
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  5. H. Van Brussel
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Editor information

Raja Chatila Gerd Hirzinger

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© 1993 Springer-Verlag London Limited

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Adams, M., Swevers, J., Torfs, D., De Schutter, J., Van Brussel, H. (1993). Implementation of control algorithms for flexible joint robots on a KUKA IR 161/60 industrial robot: Experimental results. In: Chatila, R., Hirzinger, G. (eds) Experimental Robotics II. Lecture Notes in Control and Information Sciences, vol 190. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0036129

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  • DOI: https://doi.org/10.1007/BFb0036129

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-19851-2

  • Online ISBN: 978-3-540-39323-8

  • eBook Packages: Springer Book Archive

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