Direct teaching on industrial robot without force sensor

DOI

10.2991/icmse-15.2015.28How to use a DOI?

Keywords

Industrial robot, direct teaching, joint torque, position control

Abstract

In order to improve the efficiency of robot teach, this paper presents a direct teaching control strategy for industrial robot with no need for multidimensional force/torque sensor. The kinematics and statics of a specific six-DOF robot are analyzed, and the joints’ torque is educed. In the direct teaching process, the servo motors of the robot joints operate in torque/position hybrid mode. Each joint is in dynamic balance status under the corporate impacts of inaccurate motor torque, virtual friction, viscous damping, robot weight, tool weight, and manual drag force. The operator drags the robot/joints easily, and high efficient teach is achieved.

Copyright

© 2015, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Wei Gu
AU  - Lei Shi
AU  - Xincheng Tian
PY  - 2015/12
DA  - 2015/12
TI  - Direct teaching on industrial robot without force sensor
BT  - Proceedings of the 2015 6th International Conference on Manufacturing Science and Engineering
PB  - Atlantis Press
SP  - 150
EP  - 155
SN  - 2352-5401
UR  - https://doi.org/10.2991/icmse-15.2015.28
DO  - 10.2991/icmse-15.2015.28
ID  - Gu2015/12
ER  -