Force Control in Robotics
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.
KeywordsForce control Force/torque sensor Stiffness control Compliance control Impedance control Constrained motion Hybrid force/motion control
- Salisbury JK (1980) Active stiffness control of a manipulator in Cartesian coordinates. In: 19th IEEE conference on decision and control, Albuquerque, pp 95–100Google Scholar