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Experimental Robotics III pp 152–166Cite as

An experimental environment for adaptive robot force control

  • Section 2 Force Control
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Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 200))

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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Author information

Authors and Affiliations

  1. Department of Mathematical Engineering and Information Physics, University of Tokyo, Bunkyo-ku, 113, Tokyo, Japan

    Louis L. Whitcomb, Suguru Arimoto & Tomohide Naniwa

  2. Energy and Mechanical Research Laboratory, Research and Development Center, Toshiba Corporation, 4-1 Ukishima-cho, Kawasaki-ku, 210, Kawasaki, Japan

    Fumio Ozaki

Authors
  1. Louis L. Whitcomb
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  2. Suguru Arimoto
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  3. Tomohide Naniwa
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  4. Fumio Ozaki
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Editor information

Tsuneo Yoshikawa (PhD)Fumio Miyazaki (PhD)

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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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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-19905-2

  • Online ISBN: 978-3-540-39355-9

  • eBook Packages: Springer Book Archive

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