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Springer Handbook of Robotics pp 195–220Cite as

Force Control

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Abstract

A fundamental requirement for the success of a manipulation task is the capability to handle the physical contact between a robot and the environment. Pure motion control turns out to be inadequate because the unavoidable modeling errors and uncertainties may cause a rise of the contact force, ultimately leading to an unstable behavior during the interaction, especially in the presence of rigid environments. Force feedback and force control becomes mandatory to achieve a robust and versatile behavior of a robotic system in poorly structured environments as well as safe and dependable operation in the presence of humans. This chapter starts from the analysis of indirect force control strategies, conceived to keep the contact forces limited by ensuring a suitable compliant behavior to the end effector, without requiring an accurate model of the environment. Then the problem of interaction tasks modeling is analyzed, considering both the case of a rigid environment and the case of a compliant environment. For the specification of an interaction task, natural constraints set by the task geometry and artificial constraints set by the control strategy are established, with respect to suitable task frames. This formulation is the essential premise to the synthesis of hybrid force/motion control schemes.

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Abbreviations

6-D:

six-dimensional

DOF:

degree of freedom

PD:

proportional–derivative

PI:

proportional–integral

RCC:

remote center of compliance

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Author information

Authors and Affiliations

  1. Department of Electrical Engineering and Information Technology, University of Naples Federico II, Via Claudio 21, 80125, Naples, Italy

    Luigi Villani

  2. Department of Mechanical Engineering, University of Leuven (KU Leuven), Celestijnenlaan 300, B-3001, Leuven-Heverlee, Belgium

    Joris De Schutter

Authors
  1. Luigi Villani
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  2. Joris De Schutter
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Corresponding author

Correspondence to Luigi Villani .

Editor information

Editors and Affiliations

  1. Department of Electrical Engineering, University of Naples Federico II, Via Claudio 21, 80125, Naples, Italy

    Bruno Siciliano

  2. Department of Computer Sciences, Artificial Intelligence Laboratory, Stanford University, 450 Serra Mall, CA 94305, Stanford, USA

    Oussama Khatib

Video-References

Video-References

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Recent research in impedance control available from http://handbookofrobotics.org/view-chapter/09/videodetails/684

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Integration of force strategies and natural admittance control available from http://handbookofrobotics.org/view-chapter/09/videodetails/685

:

Experiments of spatial impedance control available from http://handbookofrobotics.org/view-chapter/09/videodetails/686

:

Compliant robot motion; Control and task specification available from http://handbookofrobotics.org/view-chapter/09/videodetails/687

:

COMRADE: Compliant motion research and development environment available from http://handbookofrobotics.org/view-chapter/09/videodetails/691

:

Robotic assembly of emergency stop buttons available from http://handbookofrobotics.org/view-chapter/09/videodetails/692

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Villani, L., De Schutter, J. (2016). Force Control. In: Siciliano, B., Khatib, O. (eds) Springer Handbook of Robotics. Springer Handbooks. Springer, Cham. https://doi.org/10.1007/978-3-319-32552-1_9

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  • DOI: https://doi.org/10.1007/978-3-319-32552-1_9

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