Forcefree control of industrial articulated robot arm under force sensor-less condition

Seimitsu Kogaku Kaishi/Journal of the Japan Society for Precision Engineering

Volumn 67, Issue 9, 2001, Pages 1507-1513

  Kushida, Daisuke ^a   Nakamura, Masatoshi ^a   Goto, Satoru ^a   Kyura, Nobuhiro ^a  

^a NONE

Author keywords

Force control; Forcefree control; Industrial articulated robot arm; Torque monitor

Indexed keywords

EID: 4544272446     PISSN: 09120289     EISSN: None     Source Type: Journal    
DOI: 10.2493/jjspe.67.1507     Document Type: Article

References (12)

1. Neville Hogan: Impedance Control: An Approach to Manipulation: Part I∼III", Trans. of the ASME Journal of Dynamic System, Measurement, and Control, 107, (1985) 1.
2. Ciro Natale, Ralf Koeppe, and Gerd Hirzinger: A Systematic Design Procedure of Force Controllers for Industrial Robots, IEEE/ASME Trans. on Mechatronics, 5, 2, (2000) 122.
3. Daisuke Kushida, Masatoshi Nakamura, Satoru Goto and Nobuhiro Kyura: Human Direct Teaching of Industrial Articulated Robot Arms Based on Forceless Control, 5th International Symposium on Artificial Life and Robotics, 1, (2000) 383.
4. Daisuke Kushida, Masatoshi Nakamura, Satoru Goto and Nobuhiro Kyura: Flexible Motion Realized by Forcefree Control: Pull-Out-Work by Articulated Robot Arm, Proc. of the 2001 IEEE International Conference on Robotics and Automation, TE10, (2001) 2747.