Forcefree Control with Independent Compensation of Inertia, Friction and Gravity for Industrial Articulated Robot Arms

Forcefree control is a kind of robot arm control method as if it existed under non-gravity and non-friction conditions. In this paper, the forcefree control with independent compensation was proposed, in which inertia, friction and gravity torque were compensated independently. The proposed forcefree control with independent compensation was assured by simulation and experimental results. Furthermore, experimental results of pull-out-work and direct teaching of an industrial articulated robot arm were shown as applications of the proposed method.