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A novel approach to the teaching of skills that human workers have acquired in performing specific tasks is presented. A skilled worker shows how to perform a given task, and his motions are measured. The force exerted by the worker and the displacement of the tool manipulated by the worker are monitored and stored in a computer. The data are analyzed to find the control law of the human expert. The functional relationship between the force and the displacement is derived from the data by using a curve-fitting technique. The identified relationship is used as a reference model for controlling a manipulator arm to replicate the expert motion. The method is applied to the impedance control of a simple grinding robot.>
Asada et al. (Mon,) studied this question.
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