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Motion and force control

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Theory of Robot Control

Part of the book series: Communications and Control Engineering ((CCE))

Abstract

In this chapter we deal with the motion control problem for situations in which the robot manipulator end effector is in contact with the environment. Many robotic tasks involve intentional interaction between the manipulator and the environment. Usually, the end effector is required to follow in a stable way the edge or the surface of a workpiece while applying prescribed forces and torques. The specific feature of robotic problems such as polishing, deburring, or assembly, demands control also of the exchanged forces at the contact. These forces may be explicitly set under control or just kept limited in a indirect way, by controlling the end-effector position. In any case, force specification is often complemented with a requirement concerning the end-effector motion so that the control problem has in general hybrid (mixed) objectives.

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Authors
  1. A. De Luca
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  2. B Siciliano
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Editor information

Editors and Affiliations

  1. Laboratoire d’Automatique de Grenoble, École Nationale Supérieure d’Ingénieurs Electriciens de Grenoble, Rue de la Houille Blanche, Domaine Universitaire, 38402, Saint-Martin-d’Hères, France

    Carlos Canudas de Wit PhD

  2. Dipartimento di Informatica e Sistemistica, Università degli Studi di Napoli Federico II, Via Claudio 21, 80125, Napoli, Italy

    Bruno Siciliano PhD

  3. Centre d’Ingénierie des Systèmes, d’Automatique et de Mécanique Appliquée, Université Catholique de Louvain, 4 Avenue G. Lemaître, 1348, Louvain-la-Neuve, Belgium

    Georges Bastin PhD

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© 1996 Springer-Verlag London Limited

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De Luca, A., Siciliano, B. (1996). Motion and force control. In: de Wit, C.C., Siciliano, B., Bastin, G. (eds) Theory of Robot Control. Communications and Control Engineering. Springer, London. https://doi.org/10.1007/978-1-4471-1501-4_4

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  • DOI: https://doi.org/10.1007/978-1-4471-1501-4_4

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  • Print ISBN: 978-1-4471-1503-8

  • Online ISBN: 978-1-4471-1501-4

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