Polishing Robot Using Joystick Controlled Teaching
Fusaomi Nagata*, Keigo Watanabe**, Satoshi Hashino***, Hiroyuki Tanaka*, Takuro Matsuyama* and Kenji Hara****
*Interior Design Research Institute, Fukuoka Industrial Technology Center, Agemaki-405-3, Ohkawa, Fukuoka 831-0031, Japan
**Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering, Saga University, Honjomachi-1, Saga 840-8502, Japan
***Fukuoka Industrial Technology Center, Kamikoga 3-2-1, Chikushino, Fukuoka 818-8540, Japan
****Mechanics & Electronics Research Institute, Fukuoka Industrial Technology Center, Yahatanishiku Norimatsu 3-6-1, Kitakyushu, Fukuoka 807-0831, Japan
In this article, an impedance model following force control, which uses a position/orientation compensator based on joystick-taught data, is proposed for an industrial robot with an open architecture controller. The present method has two characteristics: it is easily applied to the task where an industrial robot polishes an object with desired contact force and orientation and does not need conventional complicated teaching. The effectiveness and promise of the proposed method are demonstrated through experiments in a polishing task using an industrial robot FS-30.
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