Forcefree Control of Industrial Articulated Robot Arm Under Force Sensor-less Condition.

This paper realized forcefree control of industrial articulated robot arm without external addition of force sensors. The forcefree control enables a motion of the industrial articulated robot arm as if it were in circumstance of non-gravity and non-friction condition. External force is detected by a torque monitor which is usually used in the servo controller of the industrial robot arm. The effectiveness of the proposed force sensor-less forcefree control was assured by simulation and experimental results of an actual industrial robot arm.