Study on Hybrid Position/Force Teaching and Control Method for 6 DoF Manipulator Utilizing f-PAWTED
- https://doi.org/10.2991/jrnal.k.201215.002How to use a DOI?
- Direct teaching method, hybrid position/force control, teaching pendant, robot manipulator
In this study, a parallel wire-type teaching device with a force sensor and a hybrid position/force teaching and control method are developed to facilely teach robot manipulators using human hands instead of teaching pendants. A direct teaching method based on a hybrid position/force control is proposed to teach robots the desired position and force trajectories. The effectiveness of the developed device and method in teaching the robot manipulator is confirmed experimentally.
- © 2020 The Authors. Published by Atlantis Press B.V.
- Open Access
- This is an open access article distributed under the CC BY-NC 4.0 license (http://creativecommons.org/licenses/by-nc/4.0/).
Cite this article
TY - JOUR AU - Quang-Trung Chu AU - Hiroki Tanaka AU - Hideki Inuzuka AU - Yoshifumi Morita AU - Masao Sakai PY - 2020 DA - 2020/12 TI - Study on Hybrid Position/Force Teaching and Control Method for 6 DoF Manipulator Utilizing f-PAWTED JO - Journal of Robotics, Networking and Artificial Life SP - 222 EP - 226 VL - 7 IS - 4 SN - 2352-6386 UR - https://doi.org/10.2991/jrnal.k.201215.002 DO - https://doi.org/10.2991/jrnal.k.201215.002 ID - Chu2020 ER -