Abstract
For the service robot which carries dishes at home or a restaurant, supporting different dishes of weight and maintaining the endpoint attitude to external forces acting suddenly on the robot body are required so as not to spill them or harm people. In the paper, it is shown in experiments using a six-joint robot arm that applying an adaptive control for the unknown gravity force-moment load at the endpoint and leaving the kinematic redundancy to the robot arm allow it to safely continue the task even in the situation without any force sensor.
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