Force Control
Johansson, Rolf LU
; Nilsson, Klas
LU
and Robertsson, Anders
LU
(2015)
p.1933-1965
- Abstract
- 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... (More) - 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. (Less)
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/8518214
- author
- Johansson, Rolf
LU
; Nilsson, Klas
LU
and Robertsson, Anders
LU
- organization
- publishing date
- 2015
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- host publication
- Handbook of Manufacturing Engineering and Technology
- editor
- Nee, Andrew Y. C.
- pages
- 1933 - 1965
- publisher
- Springer
- external identifiers
-
- scopus:84948807684
- ISBN
- 978-1-4471-4669-8
- 978-1-4471-4670-4
- DOI
- 10.1007/978-1-4471-4670-4_108
- project
- LCCC
- RobotLab LTH
- language
- English
- LU publication?
- yes
- id
- 6dc1376a-87b9-4f19-8c0d-7683f2c58b5c (old id 8518214)
- date added to LUP
- 2016-04-04 11:30:16
- date last changed
- 2023-02-24 02:08:11
@inbook{6dc1376a-87b9-4f19-8c0d-7683f2c58b5c,
abstract = {{Robotic force control refers to the control and programmable<br/><br>
specification of the interaction forces between a robot end effector<br/><br>
and the work object, where either the end effector or the work object<br/><br>
is attached to the robot manipulator. A rudimentary approach is to<br/><br>
consider the joint torques and controlled variables, and then to<br/><br>
compute those torques such that a presumably rigid manipulator<br/><br>
effectuates the desired forces. In practice, however, manipulators are<br/><br>
not rigid, joint torques are accomplished from servo-controlled motors<br/><br>
via joint transmissions with nonlinear dynamics, the control structure<br/><br>
has to obey stake-holder aspects in industry. Based on algorithmic<br/><br>
insights and experiences from industrial applications, the force<br/><br>
control topic is explained with core scientific approaches as the<br/><br>
starting point, then extending the descriptions such that the<br/><br>
industrial aspects are covered via established principles for joint<br/><br>
servo control.}},
author = {{Johansson, Rolf and Nilsson, Klas and Robertsson, Anders}},
booktitle = {{Handbook of Manufacturing Engineering and Technology}},
editor = {{Nee, Andrew Y. C.}},
isbn = {{978-1-4471-4669-8}},
language = {{eng}},
pages = {{1933--1965}},
publisher = {{Springer}},
title = {{Force Control}},
url = {{http://dx.doi.org/10.1007/978-1-4471-4670-4_108}},
doi = {{10.1007/978-1-4471-4670-4_108}},
year = {{2015}},
}