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Encyclopedia of Systems and Control pp 1–10Cite as

Force Control in Robotics

Abstract

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.

Keywords

  • Force control
  • Force/torque sensor
  • Stiffness control
  • Compliance control
  • Impedance control
  • Constrained motion
  • Hybrid force/motion control

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Author information

Authors and Affiliations

  1. Dipartimento di Ingeneria Elettrica e Tecnologie dell’Informazione, Universitàdegli Studi di Napoli Federico II, Napoli, Italy

    Luigi Villani

Authors
  1. Luigi Villani
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Correspondence to Luigi Villani .

Editor information

Editors and Affiliations

  1. Electrical and Computer Engineering, Boston University, Boston, Massachusetts, USA

    John Baillieul

  2. Automation and Control Solutions, Honeywell, Golden Valley, Minnesota, USA

    Tariq Samad

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© 2013 Springer-Verlag London

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Villani, L. (2013). Force Control in Robotics. In: Baillieul, J., Samad, T. (eds) Encyclopedia of Systems and Control. Springer, London. https://doi.org/10.1007/978-1-4471-5102-9_169-1

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  • DOI: https://doi.org/10.1007/978-1-4471-5102-9_169-1

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  • Publisher Name: Springer, London

  • Online ISBN: 978-1-4471-5102-9

  • eBook Packages: Springer Reference EngineeringReference Module Computer Science and Engineering

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