Motion and force control

In this chapter we deal with the motion control problem for situations in which the robot manipulator end effector is in contact with the environment. Many robotic tasks involve intentional interaction between the manipulator and the environment. Usually, the end effector is required to follow in a stable way the edge or the surface of a workpiece while applying prescribed forces and torques. The specific feature of robotic problems such as polishing, deburring, or assembly, demands control also of the exchanged forces at the contact. These forces may be explicitly set under control or just kept limited in a indirect way, by controlling the end-effector position. In any case, force specification is often complemented with a requirement concerning the end-effector motion so that the control problem has in general hybrid (mixed) objectives.

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