期刊
ADVANCED ROBOTICS
卷 31, 期 19-20, 页码 1102-1113出版社
TAYLOR & FRANCIS LTD
DOI: 10.1080/01691864.2017.1364168
关键词
Hybrid motion/force control; motion/ force decoupling
类别
资金
- UK Nuclear Decommissioning Authority
- EU H RoMaNS [645582]
- EPSRC [EP/M026477/1]
- Nuclear Decommissioning Authority [11302]
- EU FP7 [CoDyCo ICT-2011-9, 600716]
- Royal Society Industry Fellowship [IF160039]
- UK National Nuclear Laboratory (NNL) Research Fellowship
- EPSRC [EP/M026477/1] Funding Source: UKRI
- Engineering and Physical Sciences Research Council [EP/M026477/1] Funding Source: researchfish
This paper reviews hybrid motion/force control, a control scheme which enables robots to perform tasks involving both motion, in the free space, and interactive force, at the contacts. Motivated by the large amount of literature on this topic, we facilitate comparison and elucidate the key differences among different approaches. An emphasis is placed on the study of the decoupling of motion control and force control. And we conclude that it is indeed possible to achieve a complete decoupling; however, this feature can be relaxed or sacrificed to reduce the robot's joint torques while still completing the task.
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