Abstract
In the control of robot arm, it is nesessary to control the trajectory of its tip as well as the force which is applied from the surrounding environment. However, there are many situations where the dynamics of the environment is not well known. In such cases, we can apply the adaptive control to this force control.
In this paper, we firstly propose several construction methods of adaptive force control systems, and compare the system structures. Further, using the above results, we propose a new method of force and trajectory control of the robot arm. The effect of the proposed control scheme is also shown by simulation, and we have gotten satisfactory results.
