Living Reference Work Entry

Encyclopedia of Systems and Control

pp 1-10

Date: Latest Version

Force Control in Robotics

  • Luigi VillaniAffiliated withDipartimento di Ingeneria Elettrica e Tecnologie dell’Informazione, Universitàdegli Studi di Napoli Federico II Email author 


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