Identification and smooth tracking control of robot force control system

摘要

In order to obtain high performance of the force control system during deburring operation, the new adaptive feedforward force control scheme (adaptive zero phase error tracking control) to achieve accurate tracking contact force which is based on the ARMAX plant models identified using the least squares method is proposed. Simulation results of a robotic deburring system are given to illustrate the efficiency of the proposed scheme.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>