Flexible motion realized by force free control: pull-out-work by articulated robot arm

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.