Control and modeling for direct teaching of industrial articulated robotic arms

Shuai Wang; Jianjun Yuan; Xiajun Fu; Ning Wang; Weijun Zhang; Peiqi Xu

IROS 2016poster8 citations

Control and modeling for direct teaching of industrial articulated robotic arms

Shuai Wang, Jianjun Yuan, Xiajun Fu, Ning Wang, Weijun Zhang, Peiqi Xu

Abstract

This paper presents an improved force-free control method based on current, which can be applied to industrial articulated robotic arms with large mass and large friction torque for direct teaching. Three kinds of torques that influence direct teaching are analyzed, and thus a calibration method and a compensation model are proposed. The model has been demonstrated effective through experiments. Considering the issue of large inertia, some security strategies are proposed at last and also well testified.

BibTeX

@inproceedings{iros2016_controlandmodeli,
  title = {Control and modeling for direct teaching of industrial articulated robotic arms},
  author = {Shuai Wang and Jianjun Yuan and Xiajun Fu and Ning Wang and Weijun Zhang and Peiqi Xu},
  booktitle = {IROS 2016},
  year = {2016}
}