Abstract
At present, applications of robot technology in medical treatment and nursing care field are required. Their robots are demanded environmental adaptation. The wiping operation, which aim at this paper, is important to accustom to external environment. Then, we propose the method which improve contact force for reference force by means of comparing measured value by force sensor with friction force and taking them into consideration. We used the sliding mode control as a position controller. As a result of applying this method to the manipulator, it was verified the usefulness of the proposed method.
