Abstract
In this paper, first, the equations of motion of the horizontal three-link robot arm in contact with an elastic object are derived. Then, the deforming control system of the elastic object by the robot arm is proposed. The deforming control system consists of the feedback control of the joint angles, the feedforward control by the robot arm dynamics and the adaptive feedforward control for the compensation control of the unknown elastic object dynamics. The adaptive feedforward control law is constructed by use of the on line parameter identification algorithm based on the least squares method, the zero phase error tracking control theory and the Jacobian matrix of the robot arm. From the numerical simulation rerults and the experimental results, it is confirmed that the control error in the deforming control by use of the present adaptive feedforward control method becomes small rapidly with the passing of time.
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