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Force control of servomechanism using adaptive control

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4 Author(s)
Yabuta, T. ; Transmission Syst. Labs., NTT, Ibaraki, Japan ; Yamada, T. ; Tsujimura, T. ; Sakata, H.

It is shown that a servomechanism with only position/velocity functions can obtain a force control function using the adaptive theory (model-referenced adaptive system and model-referenced control). Experimental results of both the servomechanism and the single-degree-of-freedom force control of the manipulator show that this method leads to suitable force control when the object stiffness changes greatly. The advantage of this method is that a force control function is achieved by implementing software to identify the object stiffness without changing hardware

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Robotics and Automation, IEEE Journal of  (Volume:4 ,  Issue: 2 )