Robot Force Control

The book "Robot Force Control" offers a comprehensive analysis of the interaction between robots and their environment, particularly regarding the handling of contact forces at the end effector of the manipulator. It explains that high contact forces are generally undesirable, as they can strain both the robot and the manipulated object. Therefore, it is crucial to develop effective strategies for force control. The book addresses both theoretical and experimental approaches to robot interaction control and presents fundamental strategies such as stiffness control and impedance control. These methods are especially relevant for tasks with six degrees of freedom and the kinematic redundancy of manipulators. Additionally, direct force control strategies derived from modified motion control schemes are introduced. Finally, advanced control strategies are discussed, including passivity-based, adaptive, and output feedback schemes. All presented control schemes have been experimentally tested on a seven-joint industrial robot, highlighting the practical applicability of the concepts.