ACTIVE FORCE CONTROL APPLIED TO A RIGID ROBOT ARM
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The paper presents the implementation of Active Force Control
(AFC) strategy to control a rigid robot arm. The robustness and
effec tiveness of AFC as 'disturbance rejector' is demonstrated
through a simulation study using MATLAB@and SIMULlN~*
software pa ckages. The work is carried out all a rigid two link
planar manipulator experimenting with a number of external
disturbances. The results are directly compared to all equivalent
system which employs the conventional model-based
Proportional-Derivative (PD) control method
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