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Force Control

  • Living reference work entry
  • First Online:
Encyclopedia of Robotics

  • 110 Accesses

Synonyms

Interaction control

Definition

Control strategies for robot manipulators executing tasks involving physical interaction with the environment, which use feedback of force and are aimed at achieving desired values of interaction force.

Overview

Controlling the force exchanged between a robot manipulator and the environment during the physical interaction is crucial for the successful execution of a number of practical tasks both in industrial and service robotics.

To ensure safety during physical interaction, a fundamental requirement is compliance. Compliance allows to keep limited the forces exchanged during the interaction and can be achieved both in passive and active way. In this chapter, the term force denotes a generic vector of force and moment.

Passive compliancecan be obtained, for example, by using soft materials and elastic interfaces. An example of passive compliance device used in industrial assembling operations is the so-called Remote Center of Compliance,...

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References

  • Beltran-Hernandez CC, Petit D, Ramirez-Alpizar IG, Nishi T, Kikuchi S, Matsubara T, Harada K (2020) Learning force control for contact-rich manipulation tasks with rigid position-controlled robots. IEEE Robot Autom Lett 5(4):5709–5716

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  • Whitney DE (1987) Historical perspective and state of the art in robot force control. Int J Robot Res 6(1):3–14

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Author information

Authors and Affiliations

  1. Department of Electrical Engineering and Information Technology, Università degli Studi di Napoli Federico II, Napoli, Italy

    Luigi Villani

Authors
  1. Luigi Villani
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Corresponding author

Correspondence to Luigi Villani .

Editor information

Editors and Affiliations

  1. Department of Mechanical Engineering, National University of Singapore, Singapore, Singapore

    Marcelo H. Ang

  2. Department of Computer Science, Stanford University, Stanford, CA, USA

    Oussama Khatib

  3. Department of Electrical Engineering, University of Naples Federico II, Naples, Italy

    Bruno Siciliano

Section Editor information

  1. Dipartimento di Ingegneria, Università degli Studi della Campania Luigi Vanvitelli, Aversa, Italy

    Ciro Natale

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Villani, L. (2022). Force Control. In: Ang, M.H., Khatib, O., Siciliano, B. (eds) Encyclopedia of Robotics. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-41610-1_93-1

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  • DOI: https://doi.org/10.1007/978-3-642-41610-1_93-1

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-41610-1

  • Online ISBN: 978-3-642-41610-1

  • eBook Packages: Springer Reference EngineeringReference Module Computer Science and Engineering

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