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Computational considerations in the implementation of force control strategies

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Abstract

This paper discusses computational and experimental details necessary for successfully implementing and evaluating a wide variety of force control strategies. First, a review of both explicit force and impedance control strategies is provided. Second, the basic computational requirements of these schemes are discussed, and the hardware and timing information for our implementation is provided. Third, computational problems such as noise filtering and sampling rates are explained and discussed in detail. Finally, a review of the experimental results obtained is provided. These results support the previous discussions by demonstrating the importance of fully considering the implementational details required for successful force control of robotic manipulators.

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Authors and Affiliations

  1. Jet Propulsion Laboratory, California Institute of Technology, 91109, Pasadena, CA, USA

    Richard Volpe (member)

  2. Department of Electrical Engineering, The Robotics Institute, Carnegie Mellon University, 15213, Pittsburgh, PA, USA

    Pradeep Khosla

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  1. Richard Volpe
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  2. Pradeep Khosla
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Volpe, R., Khosla, P. Computational considerations in the implementation of force control strategies. J Intell Robot Syst 9, 121–148 (1994). https://doi.org/10.1007/BF01258316

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  • DOI: https://doi.org/10.1007/BF01258316

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