Polishing robot using a joystick controlled teaching system

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.