Force Control of robot manipulators has been a very active research field in recent years. Adding force information to robot control improves robot interaction with the environment in the presence of uncertainty. This paper presents an overall view of different force control strategies that have emerged over recent years in the field of Robotics. The paper emphasizes Hybrid Position/Force Control and Impedance Control strategies. Lastly, it sets down the research lines to be followed in the future in this area.
Force Control, Hybrid Control, lmpedance Control, Reduced Order Control, Robotics
All articles published by Studies in Informatics and Control (SIC) are published in accordance with the terms and conditions of the Creative Commons Attribution License (CC BY-NC-SA 4.0).