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Proceedings Paper

Trajectory Control Of Robot Manipulators Compensating Load Effects By Six-Axis Force Sensor
Author(s): H. Mayeda; F. Honda
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Paper 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.

Paper Details

Date Published: 19 October 1987
PDF: 8 pages
Proc. SPIE 0853, IECON '87: Industrial Applications of Control and Simulation, (19 October 1987); doi: 10.1117/12.942939
Show Author Affiliations
H. Mayeda, Osaka University (Japan)
F. Honda, Osaka University (Japan)

Published in SPIE Proceedings Vol. 0853:
IECON '87: Industrial Applications of Control and Simulation
Tom T. Hartley, Editor(s)

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