Experiments in adaptive model-based force control

L. Whitcomb, S. Arimoto, T. Naniwa, F. Ozaki
Proceedings of 1995 IEEE International Conference on Robotics and Automation  
This paper reports comparative experiments with a provably correct model-based adaptive robot control algorithm for simultaneous position and force trajectory tracking of a robot arm whose gripper is in point contact with a smooth surface. The experiments show the new adaptive modelbased offers performance superior to that of its non-modelbased counterpart over a wide variety of operating conditions.
doi:10.1109/robot.1995.526020 dblp:conf/icra/WhitcombANO95 fatcat:2xdx6lbfpbbhhikrh7ifmopvxu