Forcefree Control with Independent Compensation for Industrial Articulated Robot Arm
| Authors: | Goto Satoru, Saga University, Japan
Ishida Yuji, Saga University, Japan
Kyura Nobuhiro, Kinki University, Japan
Nakamura Masatoshi, Saga University, Japan |
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| Topic: | 4.3 Robotics |
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| Session: | Robot Manipulators |
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| Keywords: | industrial robots, force control, inertia, friction, gravity, compensation |
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Abstract
In this paper, the concept of forcefree control is extended to realize flexible motion of industrial articulated robot arms as if under the operational circumstances such as free of inertia, friction and gravity through independent compensation of inertia, friction and gravity. The forcefree control with independent compensation was verified with an experimental study of an actual industrial articulated robot arm.
