|
|
Articles:2013,Vol:18,Issue(1):58-64 |
|
|
Citation: |
|
|
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 |
| Abstract: |
| 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:
|
| DOI: |
| Corresponding author:
Email： |
| Author description:
|
|
|
|
|
|
|
|
References: |
|
|
[1] Shadow dexterous hand. http://www. vre-alities. com/shadow. html
[2] Sun D, Mills J K, Liu Y H. Position control of robot manipulators manipulating a flexible pay-load[J]. The International Journal of Robotics Research, 1999, 18(3):319～332
[3] Liu Y H，Sun D. Feedback stabilization of sec-ond-order nonholonomic systems to specific and meaningful states[A]. Proceeding of the 2nd A-sian Control Conference[C]，1997，269～272(In Chinese)
[4] Sun D, Shi X L, Liu Y H. Modeling and coor-dination of a two-arm robotic system manipula-ting a deformable object[A]. Proceeding of the IEEE Intl. on Robot and Automat[C]，Washington，DC: IEEE，1996, 64: 2346～2351 (In Chinese)
[5] Zeng G W，Hemami A. An overview of robot force control[J]. Robotica, 1997，15: 473～482
[6] Short M. Evaluation of robotic force control strat-egies using an open architecture test facility，2011 |
|
|
|
|
|
|
|
