Polishing robot using a joystick controlled teaching system

F. Nagata, K. Watanabe, S. Hashino, H. Tanaka, T. Matsuyama, K. Hara

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Citations (Scopus)


An impedance model following force control, using a position/orientation compensator based on joystick taught data, is proposed for an industrial robot with an open architecture controller. The method is characterized by two requirements: 1) to polish an object with the desired contact force and orientation; and 2) no conventional complicated teaching process is required. The effectiveness and potential of the proposed method are demonstrated through some experiments concerning with a polishing task using the JS-10 industrial robot.

Original languageEnglish
Title of host publicationIECON Proceedings (Industrial Electronics Conference)
PublisherIEEE Computer Society
Number of pages6
Publication statusPublished - 2000
Externally publishedYes

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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