Novel Joint Space Force Guidance Algorithm with Laboratory Robot System
Abstract
This article presents the implementation of a new algorithm of force guided motions with a six axis articulated robot frequently used in research laboratories. This new approach is based on the idea of impedance control in joint space and it is implemented on a digital signal processor-based robot controller. It allows an intuitive force guidance of the robot by taking the gripper by the hand. Robot may be also guided over the singularities in this way. Behaviour of the robot is thus freely programmable in the wide range.
