19 October 1987 Trajectory Control Of Robot Manipulators Compensating Load Effects By Six-Axis Force Sensor
Author Affiliations +
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.
© (1987) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
H. Mayeda, 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); doi: 10.1117/12.942939; https://doi.org/10.1117/12.942939
PROCEEDINGS
8 PAGES


SHARE
RELATED CONTENT

A State Observer For The Permanent-Magnet Synchronous Motor
Proceedings of SPIE (October 19 1987)
Real-Time Control Of Spindle Runout
Proceedings of SPIE (December 11 1984)
Active sound control on boundary layers
Proceedings of SPIE (July 26 2004)
Remote equipment control through virtual reality feedback
Proceedings of SPIE (August 12 1998)
Rover localization results for the FIDO rover
Proceedings of SPIE (October 04 2001)

Back to Top