Some important considerations in force control implementation

Eric Paljug, Tom Sugar, Vijay Kumar, Xiaoping Yun

Research output: Chapter in Book/Report/Conference proceedingConference contribution

9 Scopus citations

Abstract

The authors address force control in overconstrained dynamic systems with special emphasis on robot control. Previous approaches to force control are studied, and many of these are shown to be unsuitable for dynamic force control. Practical and theoretical considerations for designing force control algorithms are discussed. Experimental and simulation results that validate the theoretical findings are presented for a single-degree-of-freedom pneumatic force controller.

Original languageEnglish (US)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherPubl by IEEE
Pages1270-1275
Number of pages6
ISBN (Print)0818627204
StatePublished - Dec 1 1992
Externally publishedYes
EventProceedings of the 1992 IEEE International Conference on Robotics and Automation - Nice, Fr
Duration: May 12 1992May 14 1992

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2

Other

OtherProceedings of the 1992 IEEE International Conference on Robotics and Automation
CityNice, Fr
Period5/12/925/14/92

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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