Force control in robotic manipulation: a review

خلاصه

This survey reviews force control methods in robotic manipulation, categorizing approaches and discussing their applications.

نمای سریع

A review of force control methods in robotics.

یافته‌های کلیدی

Impedance control is better suited for soft environments, while hybrid control is preferred for rigid surfaces; the choice depends on the application.

هدف

To provide a comprehensive classification and guidance for selecting appropriate methods.

روش

The authors categorize force control into direct force control and indirect force control (via impedance), analyzing the advantages and limitations of each.

نتایج

Impedance control is recommended for soft environments, hybrid control for rigid ones.

نتیجه‌گیری

Force control is a key area in interactive robotics, requiring careful method selection.

مفاهیم کلیدی

force control، impedance، hybrid control، survey

مطالعه‌ی بیشتر

https://www.emerald.com/insight/content/doi/10.1108/01439910010334289/full/html

تحلیل

This paper is a valuable reference for force control, widely used by robotics engineers.

محدودیت‌ها

The survey focuses on classical methods and does not cover deep learning-based force control approaches.

کارهای آینده

The authors emphasized the need for adaptive methods and integration with advanced sensors.

کاربرد عملی

Force control is used in all robotic applications that require physical contact with objects, including assembly, handling, and typing. In the finger robot project, it is used to regulate contact force on keyboard keys.