Author:
Nagata Fusaomi, ,Watanabe Keigo,Hashino Satoshi,Tanaka Hiroyuki,Matsuyama Takuro,Hara Kenji, , ,
Abstract
In this article, an impedance model following force control, which uses a position/orientation compensator based on joystick-taught data, is proposed for an industrial robot with an open architecture controller. The present method has two characteristics: it is easily applied to the task where an industrial robot polishes an object with desired contact force and orientation and does not need conventional complicated teaching. The effectiveness and promise of the proposed method are demonstrated through experiments in a polishing task using an industrial robot FS-30.
Publisher
Fuji Technology Press Ltd.
Subject
Electrical and Electronic Engineering,General Computer Science
Cited by
17 articles.
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