An Approach of Direct Teaching Method Based on on Multi-axis Force Sensor

This paper presents a direct teaching method for serial robot based on high precision 6-axis force / moment sensor. The dynamic relationship between the end force and the end position of the robot is established, and compliance tracking control system based on impedance control is designed in consideration of gravity compensation. Without any change of the built-in controller, the method proposed in this paper is simple and effective. At the same time, the direct preservation of teaching information is realized and the application efficiency is improved.