On the Role of Compliance in Force Control

Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 302)

Abstract

This paper proposes an overview and an interpretation on the role of compliance in force control within a framework where adaptive control arise as an intuitive approach. In our analysis, we show that force control stability can be assured only if exists a compliant interface between the robot and the environment. Also, we prove that compliance is helpful to ensure well-defined force control dynamics, if combined with a low robot inertia. Otherwise adaptive control algorithms are proposed as a tool to deal with environment uncertainties. Finally, an experimental comparison between the adaptive approach and state of the art solutions is proposed.

Keywords

Compliance Force control Adaptive control Physical human-robot interaction 

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Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  1. 1.Altair Robotics LaboratoryUniversity of VeronaVeronaItaly

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