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

In this paper, a new formulation is proposed for the design of an impedance controller for an industrial robot. This 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 an impedance controller on a KUKA robot interacting with the environment having two different stiffness. Good results are obtained by using the root locus method for the controller design.