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The authors propose hybrid control of force and position without a force sensor. The proposed hybrid control system uses both the motion control method based on a H/sup infinity / acceleration controller and a force control method based on the reaction force estimation system. This system uses a position sensor signal and an estimated value of reaction force, instead of the force sensor. The H/sup infinity / acceleration controller realizes a fine and fast motion control. The proposed hybrid control was implemented in a three-degree-of-freedom direct drive robot manipulator. The test results are presented.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>
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Ohishi et al. (2003) studied this question.