Abstract
Recent efforts in the development of an experimental robot system for the evaluation of the real-world performance of model-based force control algorithms are described. First, a model-based adaptive robot control algorithm for simultaneous position and force trajectory tracking of a robot arm whose gripper is in point contact with a smooth surface is reviewed. Second, a new experimental robot system for the testing of these new force control algorithms is described. Third, preliminary experiments with this arm show the performance of the new adaptive model-based force controller to be superior to its non-model-based counterpart.
We gratefully acknowledge the support of the Japanese Government agency Japan Society for the Promotion of Science under a post-doctoral fellowship awarded to the first author.
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© 1994 Springer-Verlag London Limited
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Whitcomb, L.L., Arimoto, S., Naniwa, T., Ozaki, F. (1994). An experimental environment for adaptive robot force control. In: Yoshikawa, T., Miyazaki, F. (eds) Experimental Robotics III. Lecture Notes in Control and Information Sciences, vol 200. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0027592
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DOI: https://doi.org/10.1007/BFb0027592
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