Abstract
In assembly operation, force control is necessary as well as position control. Rigidities of the arm, the contact body and the force sensor influence the position/force control, but there are many cases that rigidities are unknown. In this study, we have used a three-link whose end-effector has a spring for making position/force control easy. We present simulation results using velocity/torque control, in which the tip position of the arm is controlled to follow the desired trajectory along with the constraint cylindrical curved surface wall and the tip reaction force that is perpendicular to the curved wall is simultaneously controlled.
