LIU Zong-bin, LIU Xiang-fa. A Review of Robotic Force/Position Control[J]. International Journal of Plant Engineering and Management, 2013, 18(1): 58-64

A Review of Robotic Force/Position Control
LIU Zong-bin1
1. Branch of Wuxi Special Equipment Safety Supervision Institute of Jiangsu Province,Wuxi 214000,P. R. China;
2. Weifang University of Science and Technology,Weifang 262701,P. R. China
This paper reviews robotic position and force control techniques. The existing fundamental force control algorithms are compared and discussed,including explicit / implicit control,stiffness control,impedance / admittance control,and hybrid position / force control. This work is intended to give a basic guidance for understanding and utilization of the fundamental robotic control algorithm.
Key words:    position control    force control    explicit control    implicit control    feedback   
Received: 2013-01-08     Revised:
Corresponding author:     Email:
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