Experiments in Adaptive Model-Based Force Control

This paper reports preliminary 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 comparative experiments show the new adaptive model-based controller offers performance superior to that of its non-model-based counterpart over a wide variety of operating conditions.

• Type: Conference
• Year: 1995
• Where: ICRA
• Authors: Louis L. Whitcomb, Suguru Arimoto, Tomohide Naniwa, Fumio Ozaki
• Keywords: Adaptive Model-based Controller, ICRA 1995, Model-based Adaptive Robot, Robot Arm, Robotics