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Some important considerations in force control implementation

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4 Author(s)
Paljug, E. ; General Robotics & Active Sensory Perception Lab., Pennsylvania Univ., Philadelphia, PA, USA ; Sugar, T. ; Kumar, V. ; Yun, X.

The authors address force control in overconstrained dynamic systems with special emphasis on robot control. 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

Published in:

Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on

Date of Conference:

12-14 May 1992