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

被引：0

作者：

Chu, Quang-Trung ^{[1
]}

Tanaka, Hiroki ^{[1
]}

Inuzuka, Hideki ^{[1
]}

Morita, Yoshifumi ^{[1
]}

Sakai, Masao ^{[2
]}

机构：

[1] Nagoya Inst Technol, Grad Sch Engn, Dept Elect & Mech Engn, Showa Ku, Gokiso Cho, Nagoya, Aichi 4668555, Japan

[2] Aichi Ctr Ind & Sci Technol, Ind Res Ctr, Onda Cho 1-157-1, Kariya, Aichi 4480013, Japan

来源：

PROCEEDINGS OF THE 2020 INTERNATIONAL CONFERENCE ON ARTIFICIAL LIFE AND ROBOTICS (ICAROB2020) | 2020年

关键词：

Direct teaching method; Hybrid force/position control; f-PAWTED; Teaching pendant; Manipulator;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

The parallel wire-type teaching device with a force sensor (f-PAWTED) and a hybrid force/position teaching and control method developed in this study are one of the novel approaches to teach robot manipulators easily by human hands instead of teaching pendants. A direct teaching method based on hybrid force/position control was proposed to teach robots both desired position and force trajectories. The effectiveness of the developed device and method in teaching the robot manipulator was confirmed experimentally.

引用

页码：519 / 522

页数：4