Force Control
Por:
Arteaga M.A., Gutiérrez-Giles A., Pliego-Jiménez J.
Publicada:
1 ene 2022
Categoría:
Industrial and manufacturing engineering
Resumen:
When a robot gets in contact with its environment, represented by a rigid or flexible surface for example, then the manipulators’ movements become constrained. For that case it is advisable to implement directly or indirectly a force control strategy to avoid damages both on the robot and to the environment. If the contact surface is well known then it is also possible to change the control objective not only to get position tracking but also force tracking or regulation. Some of the new arising challenges are the possible lack of both velocities and force measurements, a poor model of the environment or high friction effects. This chapter is meant to deal with the force tracking control when the contact surface is assumed to be rigid and frictionless so that the force and velocity components of the end-effector can be split into two tangent planes. © 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.
Filiaciones:
Arteaga M.A.:
Departamento de Control y Robótica, DIE. Facultad de Ingeniería, UNAM, Coyoacán, Mexico City, Mexico
Gutiérrez-Giles A.:
Centro de Estudios en Computación Avanzada (CECAv), UNAM, Mexico City, Mexico
Pliego-Jiménez J.:
Departamento de Electrónica y Telecomunicaciones, División de Física Aplicada, Centro de Investigación Científica y de Educación Superior de Ensenada, Ensenada, Baja California, Mexico
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