Title :
Force control of robot manipulators
Author :
Yoshikawa, Tsuneo
Author_Institution :
Dept. of Mech. Eng., Kyoto Univ., Japan
Abstract :
The state of the art of force control for robot manipulators is surveyed in this article. An overview and a unified description of the two major approaches to force control are presented. Several research topics related to force control are also surveyed
Keywords :
adaptive control; flexible manipulators; force control; learning systems; manipulator dynamics; adaptive control; contact transition control; dynamics; force control; force sensing; grasping; hybrid control; impedance control; learning control; orthogonality; robot manipulators; Control systems; Force control; Force measurement; Impedance; Manipulator dynamics; Orbital robotics; Position control; Robotic assembly; Service robots; Shape control;
Conference_Titel :
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location :
San Francisco, CA
Print_ISBN :
0-7803-5886-4
DOI :
10.1109/ROBOT.2000.844062
