Development of an Active Worktable and Its Application to Force Control of Robot Manipulators
Department of Mechanical and Control Engineering, Niigata Institute of Technology, Kashiwazaki, Niigata 945-1195, Japan
An active worktable, which can be applied to force control tasks of commercial robot manipulators, has been designed and built. The active worktable has several degrees of freedom and accommodates its position/force in accordance with the motion of a robot manipulator. A stiffness control method and an impedance control method are implemented in the active worktable to achieve compliant motion. Several experiments were carried out to confirm basic effectiveness of the active worktable.
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