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Adaptive model-based hybrid control of geometrically constrained robot arms

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4 Author(s)
Whitcomb, L.L. ; Dept. of Math. Eng. & Inf. Phys., Tokyo Univ., Japan ; Arimoto, S. ; Naniwa, T. ; Ozaki, F.

This paper reports comparative experiments with a new model-based adaptive force control algorithm for robot arms. This controller provides simultaneous position and force trajectory tracking of a robot arm whose tool tip is in point contact with a smooth rigid surface. The algorithm is provably stable with respect to the commonly accepted rigid-body nonlinear dynamical model for robot arms. Comparative experiments show the new adaptive model-based controller to provide performance superior to that of both nonmodel-based controllers and nonadaptive controllers over a wide range of operating conditions

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Robotics and Automation, IEEE Transactions on  (Volume:13 ,  Issue: 1 )