Abstract
One of the fundamental requirements for the success of a manipulation task is the capability to handle interaction between manipulator and environment. The quantity that describes the state of interaction more effectively is the contact force at the manipulator’s end effector. High values of contact force are generally undesirable since they may stress both the manipulator and the manipulated object. In this chapter, performance of operational space motion control schemes is studied first. The concepts of mechanical compliance and impedance are defined, with special regard to the problem of integrating contact force measurements into the control strategy. Then, force control schemes are presented which are obtained from motion control schemes suitably modified by the closure of an outer force regulation feedback loop. For the planning of control actions to perform an interaction task, natural constraints set by the task geometry and artificial constraints set by the control strategy are established; the constraints are expressed in a suitable constraint frame. The formulation is conveniently exploited to derive a hybrid force/position control scheme.
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Sciavicco, L., Siciliano, B. (2000). Interaction Control. In: Modelling and Control of Robot Manipulators. Advanced Textbooks in Control and Signal Processing. Springer, London. https://doi.org/10.1007/978-1-4471-0449-0_7
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DOI: https://doi.org/10.1007/978-1-4471-0449-0_7
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