Force Control

Summary, in English

Robotic force control refers to the control and programmable

specification of the interaction forces between a robot end effector

and the work object, where either the end effector or the work object

is attached to the robot manipulator. A rudimentary approach is to

consider the joint torques and controlled variables, and then to

compute those torques such that a presumably rigid manipulator

effectuates the desired forces. In practice, however, manipulators are

not rigid, joint torques are accomplished from servo-controlled motors

via joint transmissions with nonlinear dynamics, the control structure

has to obey stake-holder aspects in industry. Based on algorithmic

insights and experiences from industrial applications, the force

control topic is explained with core scientific approaches as the

starting point, then extending the descriptions such that the

industrial aspects are covered via established principles for joint

servo control.

• Author: Rolf Johansson; Klas Nilsson; Anders Robertsson
• Editor: Andrew Y. C. Nee
• Department/s: Department of Automatic Control; Department of Computer Science; ELLIIT: the Linköping-Lund initiative on IT and mobile communication; Robotics and Semantic Systems
• Publishing year: 2015
• Language: English
• Pages: 1933-1965
• Publication/Series: Handbook of Manufacturing Engineering and Technology
• Links: http://dx.doi.org/10.1007/978-1-4471-4670-4_108
• Document type: Book chapter
• Publisher: Springer
• Topic: Robotics; Control Engineering
• Status: Published
• Project: LCCC; LU Robotics Laboratory
• Research group: ELLIIT; LCCC
• ISBN/ISSN/Other: ISBN: 978-1-4471-4669-8; ISBN: 978-1-4471-4670-4