Date of this Version
This paper addresses force control in overconstrained dynamic systems with special emphasis on robot control and multiarm coordination. 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. Finally the theoretical development of a two-arm manipulation system with an extended statespace formulation and a computer simulation of the system are presented to illustrate the application of the basic ideas to a more complicated system.
Eric Paljug, Thomas G. Sugar, R. Vijay Kumar, and Xiaoping Yun, "Important Considerations in Force Control With Applications to Multi-Arm Manipulation", . October 1991.
Date Posted: 02 August 2007