Abstract
An impedance model following force control, using a position/orientation compensator based on joystick taught data, is proposed for an industrial robot with an open architecture controller. The method is characterized by two requirements: 1) to polish an object with the desired contact force and orientation; and 2) no conventional complicated teaching process is required. The effectiveness and potential of the proposed method are demonstrated through some experiments concerning with a polishing task using the JS-10 industrial robot.
| Original language | English |
|---|---|
| Title of host publication | IECON Proceedings (Industrial Electronics Conference) |
| Publisher | IEEE Computer Society |
| Pages | 632-637 |
| Number of pages | 6 |
| DOIs | |
| Publication status | Published - Jan 1 2000 |
| Externally published | Yes |
Publication series
| Name | IECON Proceedings (Industrial Electronics Conference) |
|---|---|
| Volume | 1 |
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All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Electrical and Electronic Engineering
Cite this
Polishing robot using a joystick controlled teaching system. / Nagata, F.; Watanabe, K.; Hashino, S.; Tanaka, H.; Matsuyama, T.; Kenji, Hara.
IECON Proceedings (Industrial Electronics Conference). IEEE Computer Society, 2000. p. 632-637 973223 (IECON Proceedings (Industrial Electronics Conference); Vol. 1).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Polishing robot using a joystick controlled teaching system
AU - Nagata, F.
AU - Watanabe, K.
AU - Hashino, S.
AU - Tanaka, H.
AU - Matsuyama, T.
AU - Kenji, Hara
PY - 2000/1/1
Y1 - 2000/1/1
N2 - An impedance model following force control, using a position/orientation compensator based on joystick taught data, is proposed for an industrial robot with an open architecture controller. The method is characterized by two requirements: 1) to polish an object with the desired contact force and orientation; and 2) no conventional complicated teaching process is required. The effectiveness and potential of the proposed method are demonstrated through some experiments concerning with a polishing task using the JS-10 industrial robot.
AB - An impedance model following force control, using a position/orientation compensator based on joystick taught data, is proposed for an industrial robot with an open architecture controller. The method is characterized by two requirements: 1) to polish an object with the desired contact force and orientation; and 2) no conventional complicated teaching process is required. The effectiveness and potential of the proposed method are demonstrated through some experiments concerning with a polishing task using the JS-10 industrial robot.
UR - http://www.scopus.com/inward/record.url?scp=84969261861&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84969261861&partnerID=8YFLogxK
U2 - 10.1109/IECON.2000.973223
DO - 10.1109/IECON.2000.973223
M3 - Conference contribution
AN - SCOPUS:84969261861
T3 - IECON Proceedings (Industrial Electronics Conference)
SP - 632
EP - 637
BT - IECON Proceedings (Industrial Electronics Conference)
PB - IEEE Computer Society
ER -