Abstract
This paper derives the equations of motion of a horizontal three-link robot arm contacting an elastic object, then proposes deformation control for the elastic object by the robot arm. This deformation control involves feedback control of joint angles, feedforward control by robot arm dynamics, and adaptive feedforward control for unknown elastic object dynamics. An adaptive feedforward control law is devised using an online parameter identification algorithm based on the least squares method, zero phase error tracking control theory, and the Jacobian matrix of the robot arm. Numerical simulation and experimental results confirmed that deformation control error by the proposed adaptive control rapidly decreases with the passing of time.
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