Historical perspective and state of the art in robot force control

This presentation combines historical lineage, assessment of the state of the art, and representative videotapes on robot force control. The difference between continuous and logic branching strategies is described. The development of various impedance strategies and hybrid methods is traced and com...

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Bibliographic Details
Published inProceedings. 1985 IEEE International Conference on Robotics and Automation Vol. 2; pp. 262 - 268
Main Author Whitney, D.
Format Conference Proceeding
LanguageEnglish
Japanese
Published IEEE 1985
Subjects
Arm
Control systems
Delay
Force control
Force feedback
Logic
Manipulators
Master-slave
Robots
Stability
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DOI10.1109/ROBOT.1985.1087266

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Summary:This presentation combines historical lineage, assessment of the state of the art, and representative videotapes on robot force control. The difference between continuous and logic branching strategies is described. The development of various impedance strategies and hybrid methods is traced and compared. The problem of stability is discussed and remedies are related to higher strategy issues.
DOI:10.1109/ROBOT.1985.1087266