Trajectory Control Of Robot Manipulators Compensating Load Effects By Six-Axis Force Sensor

H. Mayeda; F. Honda

doi:10.1117/12.942939

19 October 1987 Trajectory Control Of Robot Manipulators Compensating Load Effects By Six-Axis Force Sensor

H. Mayeda, F. Honda

Proceedings Volume 0853, IECON '87: Industrial Applications of Control and Simulation; (1987) https://doi.org/10.1117/12.942939
Event: IECON, Cambridge, 1987, Cambridge, MA, United States

Abstract

A simple and direct method to compensate unknown load effects on manipulator motions by a six-axis force sensor installed between end-effector and the load is proposed for trajectory control of robot manipulators. This method can also compensate any external disturbance forces and moments imposed on end-effector. The validity of the method greatly depends upon the performances of the force sensor. Use being made of a recently commercially available six-axis force sensor, experiments of trajectory control for PUMA type manipulator are examined. The results show that the six-axis force sensor works well to compensate the unknown load effects and the method is useful for trajectory control of the manipulator.

Citation Download Citation

H. Mayeda and F. Honda "Trajectory Control Of Robot Manipulators Compensating Load Effects By Six-Axis Force Sensor", Proc. SPIE 0853, IECON '87: Industrial Applications of Control and Simulation, (19 October 1987); https://doi.org/10.1117/12.942939

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