Simulation and analysis of dynamics of the force-free control for industrial robot arms

Simulation and analysis of the dynamic force-free control of robot arm with revolute joints are presented in this paper. Initially, modeling of dynamic force-free control method is described. Then simulation is carried out for single arm and two arm links robots by adopting Matlab/Simulink environment. The model characteristics of the force-free control is utilized to demonstrate the autonomous safety action being taken by the robot arm in particular instances such as; when the robot insisting on an undesirable operation or a collision with an obstacle or an unusual dragging along the working objects. Finally, simulation results are taken by adopting the force-free control on robot arms with industrial mechatronics controllers. Moreover, analysis of the force-free control is carried out by using real robot parameters throughout the simulations. Since the force-free control is about to deal with external forces given to the robot arm, it can be used to illustrate the cooperative control between a human and a robot arm by means of passive motion through external force.