Sensorless Force-free Control for Direct Teaching in Velocity Mode

摘要：

　　This paper proposes a novel control scheme to realize the function of direct-teaching for general industrial manipulator working in velocity mode without modifying the servo system.This methodology could be implemented in common upper controller of supporting velocity mode with the feedback of motor current.The freeness of force/torque sensor presents the feature that intentional contact force could be applied at any point of the link.Even if two parameters need regulation,an automatic strategy is proposed for optimization only while interaction at the first time.The proposed method has been demonstrated effective through experiments.

关键词： direct teaching force-free control velocity mode

作者: Lou Yunjiang Ma Shujie

作者单位: Harbin Institute of Technology Shenzhen,China

会议类型: 国际会议

会议名称: 第十七届国际制造会议(The 17th International Manufacturing Conference in China)(IMCC 2017))

会议地点: 深圳

会议语种:英文

页码: 1-10

在线出版日期: 2017-11-23（万方平台首次上网日期，不代表论文的发表时间）