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.
|Number of pages||12|
|Early online date||2 Sep 2017|
|Publication status||E-pub ahead of print - 2 Sep 2017|
- Hybrid motion/force control
- motion/force decoupling
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- School of Informatics - Personal Chair of Robotics
- Institute of Perception, Action and Behaviour
- Language, Interaction and Robotics
Person: Academic: Research Active