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Keywords: Direct teaching
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Journal Articles
Grinding trajectory generation of hybrid robot based on Cartesian direct teaching technology
Available to Purchase
Industrial Robot (2021) 48 (3): 341–351.
Published: 09 December 2020
... direct teaching technology is proposed. Design/methodology/approach This method first realizes the direct teaching of hybrid robot based on 3Dconnexion SpaceMouse (3DMouse) sensor, and the full path points of the robot are recorded in the teaching process. To reduce the jitter and make the speed...
Journal Articles
A new joint friction model for parameter identification and sensor-less hand guiding in industrial robots
Available to Purchase
Industrial Robot (2020) 47 (6): 847–857.
Published: 21 July 2020
... a pipeline – including a manually designed excitation trajectory, a weighted least squares algorithm for identifying the dynamic parameters and a hand guiding controller for the arm’s direct teaching. Findings Compared with the conventional joint friction model, the proposed method can effectively...
Journal Articles
Torque control based direct teaching for industrial robot considering temperature-load effects on joint friction
Available to Purchase
Industrial Robot (2019) 46 (5): 699–710.
Published: 22 July 2019
...Liming Gao; Jianjun Yuan; Yingjie Qian Purpose The purpose of this paper is to design a practical direct teaching method for the industrial robot with large friction resistance and gravity torque but without expensive force/torque sensor, where the gravity torque is just a function of joints...
