Forcefree control with independent compensation for industrial articulated robot arms |
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| Affiliation: | 1. Department of Advanced Systems Control Engineering, Saga University, Honjomachi, Saga 840-8502, Japan;2. Department of Electrical and Communication Engineering, School of Humanity-Oriented Science and Engineering, Kinki University, 11-6 Kayanomori, Iizuka 820-8555, Japan;1. Dipartimento di Ingegneria Informatica, Gestionale e dell''Automazione, Università Politecnica delle Marche, Via Brecce Bianche, 60131 Ancona, Italy;2. Industrial Control Centre, Department of Electric and Electronic Engineering, University of Strathclyde, Glasgow, UK;3. Department of Automatic Control and Systems Engineering, University of Sheffield, Sheffield, S1 3JD, UK |
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| Abstract: | Forcefree control of robot manipulators so far has been the passive motion of the arm due to the influence of external force under ideal conditions of zero gravity and zero friction, whereas this paper demonstrates forcefree control under assigned friction, gravity and inertia. The effectiveness of the proposed forcefree control with independent compensation is confirmed by comparing the experimental results with simulation results. Comparisons of the forcefree control with independent compensation to the other force control methods are also presented. |
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