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Conventional force
control methods for manipulators can be classified
into two groups; Force/Position Hybrid control method
and Compliance control method. In this report, we
propose a new force control algorithm for a 6-Articulated
manipulator, which enables continuous force control
by using the two control methods alternately.
Also, we developed
a 6-Articulated force control robot using this algorithm.
And the experiments using this robot were made to
evaluate the algorithms. The results of experiments
demonstrate the effectiveness of the force control
robot for griding, polishing and fine insertion
tasks.
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