Variations with configuration of the force control transfer functions of a PUMA 560 arm

Describes the variations of the end-tip force transfer functions with changes in the robot position and its environment. The study is based on measuring the transfer functions for a wide range of robot positions and workpieces. The purpose of the mapping is to predict, with a finite degree of accuracy, the transfer function for any robot configuration. The ultimate aim of the exercise is the robust force control of the arm.