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Force Decomposition in Robot Force Control
1991 American Control Conference, 1991It has been recently pointed out that the lack of unit invariance of the usual Euclidean norm on the twist and wrench spaces would render many of the results in robot force control invalid. This observation actually begs the more fundamental question of what force should be controlled.
Steve H. Murphy, John T. Wen
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An overview of robot force control
Robotica, 1997This 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.
Ganwen Zeng, Ahmad Hemami
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The coordinate system for force control
Experimental Brain Research, 2014The primary objective of this study was to establish the coordinate frame for force control by observing how parameters of force that are not explicitly specified by a motor task vary across the workspace. We asked subjects to apply a force of a specific magnitude with their hand.
Devjani J, Saha +4 more
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Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113), 2002
In this paper, we consider hard contact force control law which shows good performance as well as enhanced stability and robustness. First, we consider hard contact transition such as hammering when the manipulator's approaching velocity is high or the environment is very stiff.
Nukju Doh, Wan Kyun Chung, Youngil Youm
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In this paper, we consider hard contact force control law which shows good performance as well as enhanced stability and robustness. First, we consider hard contact transition such as hammering when the manipulator's approaching velocity is high or the environment is very stiff.
Nukju Doh, Wan Kyun Chung, Youngil Youm
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Geometric stability in force control
Proceedings. 1991 IEEE International Conference on Robotics and Automation, 2002Previous implementations of robot force control seldom produced satisfactory results, and researchers in the past have experienced significant instability problems associated with their force controllers. When a manipulator is constrained to an environment (force-controlled), geometric stability due to the manipulator configuration and the force ...
Byung-Ju Yi +3 more
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Force control of a flexible arm
Proceedings of the 1994 IEEE International Conference on Robotics and Automation, 2002In this paper, robust force control of a flexible arm is considered. We derive the dynamic equations of the joint angle and vibration of the flexible arm and its contact force. On the basis of a finite-dimensional model of distributed-parameter systems, an LQ controller, an optimal controller with low-pass property and a robust N/sub /spl infin ...
Fumitoshi Matsuno +2 more
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On the Role of Compliance in Force Control
2015This paper proposes an overview and an interpretation on the role of compliance in force control within a framework where adaptive control arise as an intuitive approach. In our analysis, we show that force control stability can be assured only if exists a compliant interface between the robot and the environment.
Andrea Calanca, Paolo Fiorini
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Force control of robots with nonlinearities
Journal of Intelligent and Robotic Systems, 1992This paper explores two practical issues related to the force control of manipulators. The first issue examined is how system stability is effected by commonly occurring manipulator nonlinearities, such as sampled-data, control signal saturation and slip-stick friction.
Julio J. Gonzalez, Glenn R. Widmann
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Cognitive Force Control of Excavators
Journal of Aerospace Engineering, 1993One of the high‐volume and repetitive construction operations on earth is the excavation of soil. Automation of planetary excavation work requires a system that is able to perform the planned digging work that is responsive to interaction forces experienced during excavation.
Vähä, Pentti, Skibniewski, Miroslaw
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Force control of robot manipulators
Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065), 2002The state of the art of force control for robot manipulators is surveyed in this article. An overview and a unified description of the two major approaches to force control are presented. Several research topics related to force control are also surveyed.
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