Robot Force Control

The book delves into the essential aspect of robot interaction control, focusing on managing contact forces between manipulators and their environments. It explores both indirect strategies, such as stiffness and impedance control, and direct force control methods, enhanced by motion control adjustments. The text emphasizes six-degree-of-freedom tasks and kinematic redundancy, culminating in advanced techniques like passivity-based and adaptive control. All proposed strategies are backed by experimental results using a seven-joint industrial robot equipped with a force/torque sensor, showcasing practical applications.