Robot motion control with a controlled supporting point for operator aid

Yuichi Matsumoto, Seiichiro Katsura, Kouhei Ohnishi

Research output: Contribution to conferencePaper

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 languageEnglish
Pages233-238
Number of pages6
Publication statusPublished - 2004 Jul 12
EventProceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04 - Kawasaki, Japan
Duration: 2004 Mar 252004 Mar 28

Other

OtherProceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04
CountryJapan
CityKawasaki
Period04/3/2504/3/28

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • Cite this

    Matsumoto, Y., Katsura, S., & Ohnishi, K. (2004). Robot motion control with a controlled supporting point for operator aid. 233-238. Paper presented at Proceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04, Kawasaki, Japan.