Computational considerations in the implementation of force control strategies

Richard Volpe, Pradeep Khosla
1994 Journal of Intelligent and Robotic Systems  
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 ltering and sampling rates are explained and discussed in
more » ... etail. 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.
doi:10.1007/bf01258316 fatcat:j3lmn2z3c5cf3bezdkydlvumru