主催: 一般社団法人 日本機械学会
会議名: ロボティクス・メカトロニクス 講演会2023
開催日: 2023/06/28 - 2023/07/01
This paper reports a system identification experiment of an industrial robot manipulator for force control. We have derived model a low-order model and designed a 2-degree-of-freedom control system based on the model. The controller is implemented in the robot, and we verify the control performance of the model through an experiment.