Abstract
In this research, robot motion control with a controlled supporting point for operator aid is proposed. This method is to make a supporting point by the motion control of 6-degree-of-freedom manipulator without setting a mechanical supporting point. Position control and compliance control of the attitude are performed at the point. The new technique is proposed to realize thrust motion. This technique is to change a length of the last link of manipulator aggressively. It is applied to force control and bilateral control. These theories are applied to the 6-degree-of-freedom industrial manipulator. The numerical and experimental results show viability of the proposed method.
| Original language | English |
|---|---|
| Title of host publication | International Workshop on Advanced Motion Control, AMC |
| Pages | 233-238 |
| Number of pages | 6 |
| Publication status | Published - 2004 |
| Event | Proceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04 - Kawasaki, Japan Duration: 2004 Mar 25 → 2004 Mar 28 |
Other
| Other | Proceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04 |
|---|---|
| Country | Japan |
| City | Kawasaki |
| Period | 04/3/25 → 04/3/28 |
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ASJC Scopus subject areas
- Engineering(all)
Cite this
Robot motion control with a controlled supporting point for operator aid. / Matsumoto, Yuichi; Katsura, Seiichiro; Ohnishi, Kouhei.
International Workshop on Advanced Motion Control, AMC. 2004. p. 233-238.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Robot motion control with a controlled supporting point for operator aid
AU - Matsumoto, Yuichi
AU - Katsura, Seiichiro
AU - Ohnishi, Kouhei
PY - 2004
Y1 - 2004
N2 - In this research, robot motion control with a controlled supporting point for operator aid is proposed. This method is to make a supporting point by the motion control of 6-degree-of-freedom manipulator without setting a mechanical supporting point. Position control and compliance control of the attitude are performed at the point. The new technique is proposed to realize thrust motion. This technique is to change a length of the last link of manipulator aggressively. It is applied to force control and bilateral control. These theories are applied to the 6-degree-of-freedom industrial manipulator. The numerical and experimental results show viability of the proposed method.
AB - In this research, robot motion control with a controlled supporting point for operator aid is proposed. This method is to make a supporting point by the motion control of 6-degree-of-freedom manipulator without setting a mechanical supporting point. Position control and compliance control of the attitude are performed at the point. The new technique is proposed to realize thrust motion. This technique is to change a length of the last link of manipulator aggressively. It is applied to force control and bilateral control. These theories are applied to the 6-degree-of-freedom industrial manipulator. The numerical and experimental results show viability of the proposed method.
UR - http://www.scopus.com/inward/record.url?scp=3042609729&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=3042609729&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:3042609729
SP - 233
EP - 238
BT - International Workshop on Advanced Motion Control, AMC
ER -