Title :
Polishing robot using a joystick controlled teaching system
Author :
Nagata, Fusaomi ; Watanabe, Keigo ; Hashino, Satoshi ; Tanaka, Hiroyuki ; Matsuyama, Takuro ; Hara, Kenji
Author_Institution :
Interior Design Res. Inst., Fukuoka Ind. Technol. Center, Japan
Abstract :
An impedance model following force control, using a position/orientation compensator based on joystick taught data, is proposed for an industrial robot with an open architecture controller. The method is characterized by two requirements: 1) to polish an object with the desired contact force and orientation; and 2) no conventional complicated teaching process is required. The effectiveness and potential of the proposed method are demonstrated through some experiments concerning with a polishing task using the JS-10 industrial robot
Keywords :
compensation; force control; industrial robots; polishing; position control; robot programming; contact force; force control; impedance model following control; industrial robot; joystick controlled teaching system; open architecture controller; orientation compensation; polishing robot; Control systems; Education; Educational robots; Electrical equipment industry; Force control; Impedance; Industrial control; Position control; Robot sensing systems; Service robots;
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.2000.973223
