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Implementation of Inverse Dynamics Control for a KUKA Lightweight Robot


L. Isler

Master Thesis, HS15 (10936)

In this master's thesis, a simulation, a software framework, and a set of controllers are developed for the latest KUKA LBR iiwa robot. Using previously identi ed physical parameters of the manipulator, a model-based control approach is now possible. This is done by implementing a joint space inverse dynamics controller and an operational space impedance controller. By connecting both, the simulation and the hardware interface of the robot to a software framework, the system is made extensible for future projects. Additionally, an open-source inverse kinematics and trajectory planning software were con- gured. As torque inputs to the real system proved not feasible, the resulting controllers are restricted to the simulation. Their performance showed a good match compared to the integrated controllers from KUKA. With this work the LBR iiwa is ready to be used for its intended research applications.

Supervisors: Yvonne Stürz, Roy Smith


Type of Publication:

(12)Diploma/Master Thesis

R. S. Smith

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% Autogenerated BibTeX entry
@PhdThesis { Xxx:2016:IFA_5412
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