Flexible Motion Realized by Forcefree Control: Pull-Out-Work by Articulated Robot Arm
نویسندگان
چکیده
A method for force-free control is proposed to realize pull-out work by an industrial articulated robot arm. This method achieves not only non-gravity and non-friction motion of an articulated robot arm according to an exerted force but also reflects no change in the structure of the servo controller. Ideal performance of a pull-out work by the force-free control method was assured by means of simulation and experimental studies with a two-degree-of-freedom articulated robot arm.
منابع مشابه
Forcefree Control for Flexible Motion of Industrial Articulated Robot Arms
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