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

Volume

1

fYear

2000

fDate

2000

Firstpage

632

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics Society, 2000. IECON 2000. 26th Annual Confjerence of the IEEE

Conference_Location

Nagoya

Print_ISBN

0-7803-6456-2

Type

conf

DOI

10.1109/IECON.2000.973223

Filename

973223