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.
|出版ステータス||Published - 2004 7 12|
|イベント||Proceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04 - Kawasaki, Japan|
継続期間: 2004 3 25 → 2004 3 28
|Other||Proceedings - 8th IEEE International Workshop on Advanced Motion Control, AMC'04|
|Period||04/3/25 → 04/3/28|
ASJC Scopus subject areas
- コンピュータ サイエンスの応用