Forcefree Control with Assigned Locus for Position Input Type Articulated Robot Arm

摘要

The locus type forcefree control is proposed for position input type articulated robot arm. The tip of the robot arm moves according to an objective locus by an induced exerted force as if it is operated under a condition of no gravity and no friction. Contouring work of position input type articulated robot arm is, therefore, carried out by using forcefree control with flexibility. Effectiveness of the locus type forcefree control was guaranteed by simulation and experimental work on a two-degree-of-freedom articulated robot arm, and possible applications of locus type forcefree control were also discussed.