Encyclopedia of Systems and Control

Living Edition
| Editors: John Baillieul, Tariq Samad

Force Control in Robotics

Living reference work entry
DOI: https://doi.org/10.1007/978-1-4471-5102-9_169-1


Force control is used to handle the physical interaction between a robot and the environment and also to ensure safe and dependable operation in the presence of humans. The control goal may be that to keep the interaction forces limited or that to guarantee a desired force along the directions where interaction occurs while a desired motion is ensured in the other directions. This entry presents the basic control schemes, focusing on robot manipulators.


Force control Force/torque sensor Stiffness control Compliance control Impedance control Constrained motion Hybrid force/motion control 
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© Springer-Verlag London 2013

Authors and Affiliations

  1. 1.Dipartimento di Ingeneria Elettrica e Tecnologie dell’InformazioneUniversitàdegli Studi di Napoli Federico IINapoliItaly