Definitions
This chapter discusses implicit control for robot manipulators. Although the terminology is not homogeneous in the literature, here we assume that an implicit control is a way to control the force arising when the end effector makes contact with the environment, where the force control loop is closed around inner position/velocity loops. As opposed, an explicit control scheme assumes that the output of the force controller is directly in terms of the motion control actuation variables (torques or forces, depending on the nature of the joints).
Overview
Robots make contact with the environments for a number of reasons, the most common being the accomplishment of some tasks, like assembly or machining a certain part. In such contact situations, it is desirable to control the interaction, either by directly controlling the contact force to certain values or by imposing appropriate dynamic behaviors to the relation between the contact force and the resulting motion of the robot...
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References
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Rocco, P. (2020). Implicit Control. In: Ang, M., Khatib, O., Siciliano, B. (eds) Encyclopedia of Robotics. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-41610-1_113-1
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DOI: https://doi.org/10.1007/978-3-642-41610-1_113-1
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