The development of application S/W packages using force control algorithm

힘 제어 알고리즘을 이용한 응용 S/W팩키지의 개발

For the robot manipulator in performing precision tasks, it is indispensable that the robot utilize the various sensors for intelligence. In this paper, the hybrid position/force control method is implemented with a force/torque sensor, two personal computers, and a PUMA 560 manipulator. Two application S/W packages for edge following and peg-in-hole tasks are developed by the proposed force control algorithm. The related experimental results are then presented and discussed,