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To enhance the productivity and quality, high speed and high precision industrial robots are required. In the highspeed motion, the dynamic torque of industrial robot prevents the precise operation. To achieve high speed and high precision operation, the dynamic torque calculation is often used to compensate the dynamic torque. Although, it is difficult to calculate the accurate dynamic torque because...
To enhance the productivity and quality, high speed and high precision industrial robots are required. Industrial robots suffer a vibration caused by the axial torsion that adversely affects their motion control. In addition, the vibration of a joint is transfered to another joint because of the dynamic interferences with the robot manipulator. To overcome these problems, this paper proposes a new...
In this paper, we propose a new contact detection method for sensorless force control of industrial robots for human support. Sensorless force control is an useful technique with regard to force control of industrial robots. However, existing force estimation methods have some error due to the phase-lag of the disturbance observer, and due to the errors in robot dynamics identification. The proposed...
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