This paper introduce a new approach that enables task oriented control for an industrial robot. The Operational Space Formulation (OSF) has provided excellent dynamically-consistent motion architecture. In case of implementation to an industrial robot, however, it can suffer from the differences of controller design, computational cost. As a remedy for these practical issues, controller design for a position base control system and efficient calculation technique are shown in this article. The paper presents experimental results of an algorithm implementation and effectiveness of this approach in the industrial robot teaching for an electrical device assembly task.
['Yosuke Kamiya', 'Takefumi Asahi', 'Shingo Ando', 'Oussama Khatib']
Task oriented control with constraints for industrial robot