Definition
Control algorithm for a robot manipulator executing a task involving physical interaction with the environment, which consists in controlling the robot’s position along some task directions and the exchanged force along other task directions.
Overview
Robots can be used to accomplish operations involving physical interaction, with the exchange of forces with the environment. For these applications, suitable control strategies able to control not only the robot’s motion but also the exchanged force must be adopted. The interaction may happen in any part of the robot’s body. The focus here is on the case that the contact occurs at the end effector of the manipulator.
There are tasks where the environment imposes kinematic constraints to the end-effector motion. In these situations, the interaction forces include the constraint forces, i.e., the reaction forces that arise when the end effector tends to...
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References
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Villani, L. (2022). Hybrid Force and Position Control. In: Ang, M.H., Khatib, O., Siciliano, B. (eds) Encyclopedia of Robotics. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-41610-1_110-1
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DOI: https://doi.org/10.1007/978-3-642-41610-1_110-1
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