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 -