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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)
Publication Information
International Journal of Control, Automation, and Systems / v.1, no.4, 2003 , pp. 464-473 More about this Journal
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
Articulated robot arm; flexible motion; force-free control; pull-out work;
Citations & Related Records

Times Cited By SCOPUS : 7
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