Control and modeling for direct teaching of industrial articulated robotic arms

This paper presents an improved force-free control method based on current, which can be applied to industrial articulated robotic arms with large mass and large friction torque for direct teaching. Three kinds of torques that influence direct teaching are analyzed, and thus a calibration method and...

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Bibliographic Details
Published in2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) pp. 923 - 928
Main Authors Shuai Wang, Jianjun Yuan, Xiajun Fu, Ning Wang, Weijun Zhang, Peiqi Xu
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2016
Subjects
Education
Friction
Gravity
Manipulators
Torque
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Summary:This paper presents an improved force-free control method based on current, which can be applied to industrial articulated robotic arms with large mass and large friction torque for direct teaching. Three kinds of torques that influence direct teaching are analyzed, and thus a calibration method and a compensation model are proposed. The model has been demonstrated effective through experiments. Considering the issue of large inertia, some security strategies are proposed at last and also well testified.
ISSN:2153-0866
DOI:10.1109/IROS.2016.7759160