An overview of robot force control

Abstract

This paper reports on the existing robot force control algorithms and their composition based on the review of 75 papers on this subject. The objective is to provide a pragmatic exposition with speciality on their differences and different application conditions, and to give a guide of the existing robot force control algorithms. The previous work can be categorized into discussion, design and/or application of fundamental force control techniques, stability analysis of the various control algorithms, and the advanced methods. Advanced methods combine the fundamental force control techniques with advanced control algorithms such as adaptive, robust and learning control strategies.

On Energy-based Robust Passive Impedance Control of a Robot Manipulator

“…Here, we mainly performed three types of simulations. The first type and the second type use same previous passive impedance control, but in different cases: (1) when there is no model error m 1.0 m and (2) when Figs. 9 to 11 are results of our robust passive impedance control.…”

“…To realize the physical environmental interactive tasks by a robot, so far many force control approaches have been proposed [1]. Recently, in order to remain the robot's passivity as seen from the environment, the PVFC (passive velocity field control) as well as PIC (passive impedance control) considering time-varying impedance center has been presented [2,3].…”

Fuzzy impedance and force control of a Stewart platform

“…Some fundamental methods for robot force control have been developed in the last two decades. These control methods can be summarized as stiffness [4], impedance [5], admittance, hybrid position/force, hybrid impedance, parallel position/force, pure force control [6,7], and computed torque control [8]. In addition, some advanced methods have been developed such as fuzzy [9], adaptive [10], robust [11], vision based [12], and learning algorithms [13].…”

Human-friendly robotic manipulators: safety and performance issues in controller design

“…This is because most robots perform position focused simple tasks such as spot welding,spray painting or pick and place operations in well known operating environment [36]. In tasks that demand contact with an object during operations, industrial robots adopt force control techniques to regulate the amount of force applied by the robot during the interaction [209]. Later, based on operational force and position constraints imposed on a manipulator, a hybrid position/force controller was introduced that uses position control on some degree of freedom and force control for others [56,40,206].…”