Forcefree control with independent compensation for inertia friction and gravity of industrial articulated robot arm

Author

Goto, Satoru ; Nakamura, Masatoshi ; Kyura, Nobuhiro

Author_Institution

Dept. of Adv. Syst. Control Eng., Saga Univ., Japan

Volume

3

fYear

2003

fDate

14-19 Sept. 2003

Firstpage

4386

Abstract

Forcefree control can realize the flexible motion of industrial articulated robot arms without any change of the built-in controller. In this paper, the forcefree control was extended to realize flexible motion emulating operational circumstance free of inertia, friction and gravity through the independent compensation of inertia, friction and gravity. The property of the forcefree control with independent compensation was also investigated by experimental study of an actual industrial articulated robot arm, where the external force was measured with a force sensor which was attached to the tip of the robot arm.

Keywords

compensation; compliance control; force control; force measurement; industrial manipulators; controller; external force measurement; flexible motion; force sensor; forcefree control; friction independent compensation; gravity independent compensation; industrial articulated robot arm; inertia independent compensation; Defense industry; Force control; Force measurement; Force sensors; Friction; Gravity; Industrial control; Motion control; Robot sensing systems; Service robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-7736-2

Type

conf

DOI

10.1109/ROBOT.2003.1242279

Filename

1242279