International Journal of Control, Automation, and Systems

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Flexible Motion Realized by Force-free Control: Pull-Out Work by an Articulated Robot Arm

  • Kushida, Daisuke (Department of Advanced Systems Control Engineering, Saga University) ;
  • Nakamura, Masatoshi (Department of Advanced Systems Control Engineering, Saga University) ;
  • Goto, Satoru (Department of Advanced Systems Control Engineering, Saga University) ;
  • Kyura, Nobuhiro (Department of Electrical and Computer Engineering, Kinki University)
  • Published : 2003.12.01
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Abstract

A method for force-free control is proposed to realize pull-out work by an industrial articulated robot arm. This method achieves not only non-gravity and non-friction motion of an articulated robot arm according to an exerted force but also reflects no change in the structure of the servo controller. Ideal performance of a pull-out work by the force-free control method was assured by means of simulation and experimental studies with a two-degree-of-freedom articulated robot arm.

Keywords

References

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