著者

櫛田 大輔 中村 政俊 俊藤 聡 久良 修郭

出版者

公益社団法人 精密工学会

雑誌

精密工学会誌 (ISSN:09120289)

巻号頁・発行日

vol.67, no.9, pp.1507-1513, 2001-09-05 (Released:2009-04-10)

参考文献数

12

被引用文献数

2 3

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This paper realized forcefree control of industrial articulated robot arm without external addition of force sensors. The forcefree control enables a motion of the industrial articulated robot arm as if it were in circumstance of non-gravity and non-friction condition. External force is detected by a torque monitor which is usually used in the servo controller of the industrial robot arm. The effectiveness of the proposed force sensor-less forcefree control was assured by simulation and experimental results of an actual industrial robot arm.