DocumentCode
3231659
Title
Flexible motion realized by force free control: pull-out-work by articulated robot arm
Author
Kushida, Daisuke ; Nakamura, Masatoshi ; Goto, Satoru ; Kyura, Nobuhiro
Author_Institution
Dept. of Adv. Syst. Control Eng., Saga Univ., Japan
Volume
3
fYear
2001
fDate
2001
Firstpage
2747
Abstract
Flexible motion of an industrial articulated robot arm, i.e., the passive motion of the robot arm for an external force, is realized by the proposed method of force-free control. The force-free control enables the motion of an industrial articulated robot arm as if it were in a circumstance of non-gravity and non-friction condition. The effectiveness of the force-free control was assured by applying the approach to a pull-out-work with a two degree-of-freedom articulated robot arm.
Keywords
industrial manipulators; manipulator dynamics; motion control; articulated robot arm; force free control; industrial manipulators; motion control; passive motion; Defense industry; Force control; Force sensors; Industrial control; Manipulators; Motion control; Robot sensing systems; Service robots; Servomechanisms; Welding;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-6576-3
Type
conf
DOI
10.1109/ROBOT.2001.933038
Filename
933038
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