On the force/trajectory control of robot arms

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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.

Document Type: Research Article

DOI: http://dx.doi.org/10.1163/156855388X00056

Affiliations: Department of Electrical Engineering, Chiba University, 1-33 Yayoi-cyou Chiba-city, Japan

Publication date: January 1, 1987

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