Human direct teaching of industrial articulated robot arms based on force-free control |
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Authors: | Daisuke Kushida Masatoshi Nakamura Satoru Goto Nobuhiro Kyura |
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Affiliation: | (1) Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering, Saga University, Honjomachi, 840-8502 Saga, Japan;(2) Department of Electrical Engineering, Kinki University in Kyushu, Iizuka, Japan |
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Abstract: | Force-free control produces motion in a robot arm as if it were under conditions with no gravity and no friction. In this study, a method of force-free control is proposed for industrial articulated robot arms. The force-free control proposed was applied to the direct teaching of industrial articulated robot arms in that the robot arm was moved by direct human force. Generally, the teaching of industrial articulated robot arms is carried out using operational equipment called a teach-pendant. Smooth teaching can be achieved if direct teaching is applicable. The force-free control proposed enables humans to teach industrial articulated robot arms directly. The effectiveness of force-free control was confirmed by experimental work on an articulated robot arm with two degrees of freedom. This work was presented in part at the Fifth International Symposium on Artificial Life and Robotics, Oita, Japan, January 26–28, 2000 |
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Keywords: | Force-free control Industrial articulated robot arms Human direct teaching |
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