| 203B4 |
|---|
| Measurement of Gravity and Friction in the Experiment of Forcefree Control and their Compensation |
| AUTHORS |
| Yuji ISHIDA, Masatoshi NAKAMURA, Satoru GOTO (Saga University) Nobuhiro KYURA (Kinki University) |
| ABSTRACT |
| Forcefree control is a kind of robot arm control method as if it were in non-gravity and non-friction conditions. In this paper, forcefree control was realized by measuring and compensating gravity and friction from experiment. The effective of forcefree control was verified,by experimental resalts of an actual robot arm. |
Back to Program
Time Table
Top of This Site
Annual Conference 2002