抄録
In this paper, position information based forcefree control is proposed in order to realize flexible motion of articulated robot arms without force or torque information sensing. The proposed position information based forcefree control uses torque observer instead of torque information sensing, which enables flexible motion for more general articulated robot arms. The proposed position information based forcefree control was assured by experimental results of an actual articulated robot arm. Moreover, the proposed position information based forcefree control is compared with the previously proposed forcefree control using torque monitor.
