Abstract
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This paper describes the development and experimental verification of a mathematical model for a force control system consisting of a PUMA 560 manipulator, force sensor, and environment. The main contribution is to present an argument that explicit dynamic models of manipulation systems used for force control are of little relevance or use. Identification techniques are used to model the system as a 'black box', measuring only an input/output relationship. The explicit dynamics of the mechanical, hardware and software elements of the manipulator are neglected.