Journal of Robotics, Networking and Artificial Life

Volume 7, Issue 4, March 2021, Pages 222 - 226

Study on Hybrid Position/Force Teaching and Control Method for 6 DoF Manipulator Utilizing f-PAWTED

Authors
Quang-Trung Chu1, Hiroki Tanaka1, Hideki Inuzuka1, Yoshifumi Morita1, *, Masao Sakai2
1Department of Electrical and Mechanical Engineering, Graduate School of Engineering, Nagoya Institute of Technology, Gokiso-cho, Showa-ku, Nagoya, Aichi 466-8555, Japan
2Industrial Research Center, Aichi Center for Industry and Science Technology, Onda-cho 1-157-1, Kariya-shi Aichi 448-0013, Japan
*Corresponding author. Email: morita@nitech.ac.jp
Corresponding Author
Yoshifumi Morita
Received 26 November 2019, Accepted 9 June 2020, Available Online 31 December 2020.
DOI
https://doi.org/10.2991/jrnal.k.201215.002How to use a DOI?
Keywords
Direct teaching method, hybrid position/force control, teaching pendant, robot manipulator
Abstract

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.

Copyright
© 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/).

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Journal
Journal of Robotics, Networking and Artificial Life
Volume-Issue
7 - 4
Pages
222 - 226
Publication Date
2020/12/31
ISSN (Online)
2352-6386
ISSN (Print)
2405-9021
DOI
https://doi.org/10.2991/jrnal.k.201215.002How to use a DOI?
Copyright
© 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  - 2020/12/31
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  -