Forcefree Control of Articulated Robot Arm Considering Velocity Along Assigned Locus

Daisuke Kushida; Masatoshi Nakamura; Satoru Goto; Nobuhiro Kyura

doi:10.11499/sicep.2002.0.479.0

SICE Annual Conference 2002

DOI https://doi.org/10.11499/sicep.2002.0.479.0

会議情報

主催: The Society of Instrument and Control Engineers

共催: IEEE/Industiral Electronic Society, IEEE/Robotics and Automation Society, IEEE/Control System Society

Forcefree Control of Articulated Robot Arm Considering Velocity Along Assigned Locus

Daisuke Kushida, Masatoshi Nakamura, Satoru Goto, Nobuhiro Kyura

著者情報

キーワード: velocity consideration, assigned locus, forcefree control, articulated robot arm

会議録・要旨集フリー

p. 479

詳細

抄録

Forcefree control with velocity consideration under assigned locus is proposed for articulated robot arm. The tip of the robot arm is moved on an objective locus according to the tip velocity. Then, the direction of tip velocity, which corresponds to exerted force, is modified to the tangential direction of assigned locus. Contouring work of articulated robot arm is, therefore, carried out with forcefree control. Effectiveness of the proposed forcefree control is assured by simulation and experimental work on a two-degree-of-freedom articulated robot arm. And applications of forcefree control with assigned locus were also discussed.

責任著者(Corresponding author)

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