Orthogonal Type Forcefree Control by Considering Following Locus for Industrial Articulated Robot Arm

Abstract

Orthogonal type forcefree control by considering following locus is proposed for industrial articulated robot arm. The tip of the robot arm is moved on an objective locus according to the exerted force without gravity and friction. Contouring work of industrial articulated robot arm is, therefore, carried out with forcefree control. Effectiveness of the orthogonal type forcefree control by considering following locus was guaranteed by simuslation and experimental work on a two-degree-of-freedom articulated robot arm. Applications of orthogonal type forcefree control by considering following locus was also discussed.