Access Restriction

Author Kushida, D. ♦ Nakamura, M. ♦ Goto, S. ♦ Kyura, N.
Source IEEE Xplore Digital Library
Content type Text
Publisher Institute of Electrical and Electronics Engineers, Inc. (IEEE)
File Format PDF
Copyright Year ©2002
Language English
Subject Domain (in DDC) Technology ♦ Engineering & allied operations ♦ Other branches of engineering
Subject Keyword Force control ♦ Velocity control ♦ Robot control ♦ Robot kinematics ♦ Weight control ♦ Service robots ♦ Servomechanisms ♦ Orbital robotics ♦ Motion control ♦ Friction
Abstract Force-free control with velocity consideration under the assigned locus is proposed for an articulated robot arm. The tip of the robot arm is moved on an objective locus according to the tip velocity. Then, the direction of the tip velocity, which corresponds to the exerted force, is modified to the tangential direction of the assigned locus. The contouring work of an articulated robot arm is, therefore, carried out with a force-free control. The effectiveness of the proposed force-free control is assured by simulation and experimental work on a two-degree-of-freedom articulated robot arm. Applications of the force-free control with an assigned locus are also discussed.
Description Author affiliation: Venture Bus. Lab., Saga Univ., Japan (Kushida, D.)
ISBN 0780376315
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research ♦ Reading
Education Level UG and PG
Learning Resource Type Article
Publisher Date 2002-08-05
Publisher Place Japan
Rights Holder SICE
Size (in Bytes) 287.92 kB
Page Count 5
Starting Page 2167
Ending Page 2171

Source: IEEE Xplore Digital Library