Forcefree Control with Independent Compensation for Articulated Robot Arms and Its Applications
نویسندگان
چکیده
In this paper, the forcefree control with independent compensation is described. The forcefree control with independent compensation, in which inertia, friction and gravity torque are compensated independently, can realize flexible motion of robot arms. The forcefree control with independent compensation is compared with other force control methods such as compliance control. Various applications of the forcefree control with independent compensation are also explained.
منابع مشابه
Forcefree Control with Independent Compensation for Industrial Articulated Robot Arm
In this paper, the concept of forcefree control is extended to realize flexible motion of industrial articulated robot arms under the virtual 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 ...
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