Forcefree control with independent compensation for inertia friction and gravity of industrial articulated robot arm

@article{Goto2003ForcefreeCW,
  title={Forcefree control with independent compensation for inertia friction and gravity of industrial articulated robot arm},
  author={Satoru Goto and Masatoshi Nakamura and Nobuhiro Kyura},
  journal={2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)},
  year={2003},
  volume={3},
  pages={4386-4391 vol.3}
}
Forcefree control can realize the flexible motion of industrial articulated robot arms without any change of the built-in controller. In this paper, the forcefree control was extended to realize flexible motion emulating operational circumstance free of inertia, friction and gravity through the independent compensation of inertia, friction and gravity. The property of the forcefree control with independent compensation was also investigated by experimental study of an actual industrial… CONTINUE READING

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