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


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