MANIPULATION
Study on Hybrid Position/Force Teaching and Control Method for 6 DoF Manipulator Utilizing f-PAWTED
Quang-Trung Chu, Hiroki Tanaka, Hideki Inuzuka, Yoshifumi Morita, Masao Sakai
- Year
- 2020
- Citations
- 3
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.
Keywords
Manipulator (device)Position (finance)Control (management)Computer scienceControl theory (sociology)Control engineeringEngineeringArtificial intelligenceRobotBusiness
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