CurrentBased Direct Teaching for Industrial Manipulator In this paper, a novel human direct teaching method of industrial manipulator with large mass and friction based on internal current sensors installed in joints is proposed. Dynamic model for an industrial robot is analyzed in detail, where the gravity torque and friction torque are the main items that need to be considered. Friction torque is influenced by joint speed and temperature. A method to identify joint friction parameters rapidly is proposed, and experiments are carried out to acquire friction characteristics under different temperatures. Then, the implementation method and improvement measures of direct human teaching are introduced in consideration of robot gravity torque and friction torque of joints. Finally, validation tests are conducted to verify the feasibility of the direct teaching method. Experiment result shows that the method based on internal current sensors is capable of realizing direct teaching flexibly and easily.

Force Perception of Industrial Robot Based on Multiparameter Coupled Model The precision force sensing information of industrial robots to the environment is important for highprecision and flexible assembly operations. This paper proposed a calibration and calculation method to the contact force with the data from a sixdimensional forcetorque sensor, which is installed between the end of the robot and the endeffector. In the proposed method, a multiparameter coupled model was considered including the gravity of the endeffector, the zeropoint of the sensor and the installation angle of sixdimensional forcetorque sensor. The contact forcetorque could be precisely obtained using this model, and the influence of the gravity and zero drift of sensor can be compensated. Experiments were performed with KUKA iiwa. The results show that the forcetorque information was more precise with the coupled model.