Abstract
In assembly works, robot has to control the combined force acting between two bodies. When robot is driven by coarse steps, as much as 0.1 mm and 0.1° step, it is very hard to control the magnitude and position of the combined force. This report proposes to insert an elastic body between the handling body and the robotic force sensor, analyzes the controllability of the synthesized force, and assures experimentally the analytical results. Conventionally, the position of the combined force is controlled by the rotational drive. This report clears that the elastic body insertion makes it possible to control the force position by the prismatic drive in addition to the rotational drive.
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