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Control of forces and torques seemed to be solved. But the usual method for position controlled robots is not optimal when using a slow interface. In addition, there are differences between control with a compliant sensor and with a stiff sensor, even more if the sensor is distant from the contact point and with respect to the vector of the desired force. The method proposed in this paper further considers a point-surface contact, from which the sensor cannot infer on rotation. We also consider the automatic detection of this case. A further obstacle to force control with compliant sensors is the fact that only small scale sensors are available. Therefore a method for the scaling of existing sensors and an example of its use are presented.