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Control Problems in Robotics and Automation pp 1–17Cite as

Force control: A bird's eye view

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Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 230))

Abstract

This chapter summarizes the major conclusions of twenty years of research in robot force control, points out remaining problems, and introduces issues that need more attention. By looking at force control from a distance, a lot of common features among different control approaches are revealed; this allows us to put force control into a broader (e.g. differential-geometric) context. The chapter starts with the basics of force control at an introductory level, by focusing at one or two degrees of freedom. Then the problems associated with the extension to the multidimensional case are described in a differential-geometric context. Finally, robustness and adaptive control are discussed.

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Author information

Authors and Affiliations

  1. Department of Mechanical Engineering, Katholieke Universiteit Leuven, Belgium

    Joris De Schutter, Herman Bruyninckx & Wen-Hong Zhu

  2. Coordinated Science Laboratory, University of Ilinois at Urbana-Champaign, USA

    Mark W. Spong

Authors
  1. Joris De Schutter
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  2. Herman Bruyninckx
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  3. Wen-Hong Zhu
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  4. Mark W. Spong
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Editor information

Bruno Siciliano Kimon P. Valavanis

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© 1998 Springer-Verlag London Limited

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De Schutter, J., Bruyninckx, H., Zhu, WH., Spong, M.W. (1998). Force control: A bird's eye view. In: Siciliano, B., Valavanis, K.P. (eds) Control Problems in Robotics and Automation. Lecture Notes in Control and Information Sciences, vol 230. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0015073

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  • DOI: https://doi.org/10.1007/BFb0015073

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-76220-1

  • Online ISBN: 978-3-540-40913-7

  • eBook Packages: Springer Book Archive

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