Abstract
The potential offered by motion control strategies to ensure a compliant behavior during the interaction between the end effector and the environment is investigated. Compliance control and impedance control are introduced as effective tools to achieve indirect control of the contact force. An inner motion loop is adopted to enhance disturbance rejection. Six-DOF impedance control schemes are derived using different types of orientation displacement and the properties of rotational stiffness are analyzed in detail. A generalization to the case of nondiagonal six-DOF stiffness is discussed. Throughout the chapter, experimental results are presented for an industrial robot interacting with the environment.
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© 1999 Springer Science+Business Media New York
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Siciliano, B., Villani, L. (1999). Indirect Force Control. In: Robot Force Control. The Springer International Series in Engineering and Computer Science, vol 540. Springer, Boston, MA. https://doi.org/10.1007/978-1-4615-4431-9_3
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DOI: https://doi.org/10.1007/978-1-4615-4431-9_3
Publisher Name: Springer, Boston, MA
Print ISBN: 978-1-4613-6995-0
Online ISBN: 978-1-4615-4431-9
eBook Packages: Springer Book Archive