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In the control of a robot arm, it is necessary to control the trajectory of its tip as well as the force which is exerted on the surrounding environment. However, there are many situations where the dynamics of the environment are not well known. In such cases, we have to apply adaptive
control to this force control. In this paper, we first propose several construction methods of adaptive force control systems and compare these system structures. Further, using the above results, we propose a new method of force and trajectory control of a robot arm. The effect of the proposed
control scheme is shown by simulation, and the results are satisfactory.