Flexible motion of pull-out-work by articulated robot arm based on forcefree control

Abstract

Flexible motion of an industrial articulated robot arm is realized by using force-free control, in which the flexible motion means that the robot arm is actuated by external force passively. Force-free control enables the natural motion of the industrial articulated robot arm as if the robot arm exists in a circumstance of non-gravity and non-friction condition. The effectiveness of the force-free control was assured by the application of pull-out-work on a 2-degree-of-freedom articulated robot arm.