Title :
Flexible motion of pull-out-work by articulated robot arm based on forcefree control
Author :
Kushida, Daisuke ; Nakamura, Masatoshi ; Goto, Satoru ; Kyura, Nobuhiro
Author_Institution :
Dept. of Adv. Syst. Control Eng., Saga Univ., Japan
Abstract :
Flexible motion of an industrial articulated robot arm is realized by using force-free control, in which the flexible motion means that the robot arm is actuated by external force passively. Force-free control enables the natural motion of the industrial articulated robot arm as if the robot arm exists in a circumstance of non-gravity and non-friction condition. The effectiveness of the force-free control was assured by the application of pull-out-work on a 2-degree-of-freedom articulated robot arm
Keywords :
industrial manipulators; 2-DOF articulated robot arm; external force; flexible motion; force-free control; industrial articulated robot arm; pull-out-work; Control systems; Defense industry; Force control; Industrial control; Manipulators; Motion control; Robot sensing systems; Robotic assembly; Service robots; Servomechanisms;
Conference_Titel :
Industrial Electronics Society, 2000. IECON 2000. 26th Annual Confjerence of the IEEE
Conference_Location :
Nagoya
Print_ISBN :
0-7803-6456-2
DOI :
10.1109/IECON.2000.972548
