Mitsuo Koide

Development of a fast assembly robot arm with joint torque sensory feedback control

We have developed a new robot arm with six joints that have torque sensors and geared reduction systems. This arm has compliance control ability without using a wrist force sensor. The techniques adopted here are the low friction and low gear ratio reduction system, nonlinear torque compensation, inertial torque feedforward compensation and joint torque control using joint torque sensor feedback. The experimental results show that this robot has high accuracy of trajectory in spite of large compliance, i.e. low position feedback gains. This robot can also take practical industrial tasks in high speed under uncertain positioning of works.

TL-10: a programming language for assembly robots

TL-10, Toyoto Robot Language-10, is a BASIC-like robot language. It has functions that define locations and subroutine parameters, which are useful in the accumulation and the transference of robot applied technology. It also has functions to communicate with other computers such as those for vision systems. The important features are described and illustrated by examples.