A proposed control algorithm was implemented on the robot controller, and a cutting experiment
with a urethane model of bone was conducted. The experiment proved that force controlled machining is available, and 
the effectiveness was confirmed.
To evaluate the effectiveness of the force controlled machining system, a cutting experiment is conducted
with a urethane (plastic) model of bone (SawBone, 1179-1) using a multi-axis bone cutting robot.
The cutting tool is a diameter 8 mm, high-speed steel and ball end mill. The conditions are as follows: Cutting speed 150 m/min (6000 rpm), Radial depth of cut 1 mm, Axial depth of cut 5 mm and Feed rate 3 mm/s constant (normal), maximum 12 mm/s (adaptive).
