Closed-Loop Control of a Manipulator Arm Using a Wrist Force Sensor

Robot force sensing and force control have been researched for several years, producing a variety of sensing methods and control strategies. Most of the published work has been theoretical in nature, with little emphasis on the practical problems encountered in the implementation of a system. This paper describes the interfacing of a 6-axis wrist force sensor to a manipulator and the design and implementation of a control system incorporating the sensor as a feedback device (in addition to existing position control).