Robot Force Control

One of the fundamental requirements for the success of a robot task is the capability to handle interaction between manipulator and environment. This book provides a theoretical and experimental treatment of robot interaction control.

Remarkably, all control schemes are experimentally tested on a setup consisting of a seven-joint industrial robot with open control architecture and force/torque sensor. The topic of robot force control is not treated in depth in robotics textbooks, in spite of its crucial importance for practical manipulation tasks. In the few books addressing this topic, the material is often limited to single-degree-of-freedom tasks. On the other hand, several results are available in the robotics literature but no dedicated monograph exists. The book is thus aimed at filling this gap by providing a theoretical and experimental treatment of robot force control.

Preface. Acknowledgments. 1. Introduction. 2.
Motion Control. 3. Indirect Force Control. 4. Direct Force
Control. 5. Advanced Force and Position Control. Appendices.
References. Index.