Some important considerations in force control implementation

The authors address force control in overconstrained dynamic systems with special emphasis on robot control. Previous approaches to force control are studied, and many of these are shown to be unsuitable for dynamic force control. Practical and theoretical considerations for designing force control algorithms are discussed. Experimental and simulation results that validate the theoretical findings are presented for a single-degree-of-freedom pneumatic force controller. >

Authors

• Eric Paljug
• Thomas Sugar
• Vijay Kumar 0001
• Xiaoping Yun

Keywords

• Force control
• Robot kinematics
• Actuators
• Vehicle dynamics
• Robot sensing systems
• Legged locomotion
• Control systems
• Differential equations
• Robot control
• Nonlinear equations
• Causal Relationship
• Systemic Response
• Control Strategy
• System Dynamics
• Model Estimates
• Sampling Frequency
• Optimal Control
• Fundamental Frequency
• International Conference
• Physical System
• Rigid Body
• Use Of Control
• Dynamic Control
• Robotic System
• Operating Frequency
• Causal Model
• Dynamic Problem
• Force Sensor
• Integral Control