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Position/Force Control of Multi-Axis Robot Manipulator based on the TDOF Robust Servo Controller for Each Joint

The aim of this paper is mainly to demonstrate the efficacy of our robot control method without using non-linear compensation using the inverse dynamics. This method is based on the modern Two-Degrees-Of-Freedom (TDOF) robust position servosystem for each joint which has extremely high servo stiffness. We will show the experimental results of various kinds of robot motion controls using the lifesize 6-axis manipulator and DSP based controller.