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Force Control

Johansson, Rolf LU ; Nilsson, Klas LU and Robertsson, Anders LU (2015) In Handbook of Manufacturing Engineering and Technology 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:
author
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
in
Handbook of Manufacturing Engineering and Technology
editor
Nee, Andrew Y. C.
pages
1933 - 1965
publisher
Springer Verlag
external identifiers
  • Scopus:84948807684
ISBN
978-1-4471-4669-8
978-1-4471-4670-4
DOI
10.1007/978-1-4471-4670-4_108
language
English
LU publication?
yes
id
6dc1376a-87b9-4f19-8c0d-7683f2c58b5c (old id 8518214)
date added to LUP
2016-03-24 11:06:41
date last changed
2016-10-13 04:46:07
@misc{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},
  editor       = {Nee, Andrew Y. C.},
  isbn         = {978-1-4471-4669-8},
  language     = {eng},
  pages        = {1933--1965},
  publisher    = {ARRAY(0x970f4d0)},
  series       = {Handbook of Manufacturing Engineering and Technology},
  title        = {Force Control},
  url          = {http://dx.doi.org/10.1007/978-1-4471-4670-4_108},
  year         = {2015},
}