Robot force control: A review

Whitney, 1987, Historical perspective and state of the art in robot force control, Int. J. Robotics Res., 6, 3, 10.1177/027836498700600101

Paul, 1987, Problems and research issues associated with the hybrid control of force and displacement, 255

Hogan, 1989, 339

De Schutter, 1987, A study of active compliant motion control methods for rigid manipulators based on a generic scheme, 1060

Hogan, 1985, Impedance control: an approach to manipulation. Part I: Theory. Part II: Implementation. Part III: Applications, Trans ASME J. Dyn. Syst. Meas. Control., 107, 1, 10.1115/1.3140702

Kazerooni, 1086, Robust compliant motion for manipulators, IEEE J. Robotics Automat., RA-2, 83

Asada, 1987, On the dynamic analysis of a manipulator and its end-effector interacting with the environment, 751

Khatib, 1987, A unified approach for motion and force control of robot manipulators: the operational space formulation, IEEE J. Robotics Automat., RA-3, 43, 10.1109/JRA.1987.1087068

Paul, 1981

Nakamura, 1987, Force applicability of robotic mechanisms, 570

Eppinger, 1989, Three dynamic problems in robot force control, 392

Koivo, 1986, Force-position-velocity control with self-tuning for robotic manipulators, 1563

Kazerooni, 1988, Compliance control and unstructured modeling of cooperating robots, 510

McClamroch, 1986, Singular systems of differential equations as dynamics models for constrained robot systems

Krishnan, 1990, A new approach to position and contact force regulation in constrained robot systems, 1344

Cai, 1989, An approach to force and position control of robot manipulators, 86

Goldenberg, 1988, Implementation of force and impedance control in robot manipulators, 1626

Featherstone, 1987

Wittenburg, 1977

Zheng, 1985, Mathematical modeling of a robot collision with its environment, Int. J. Robot. Syst., 2, 289, 10.1002/rob.4620020307

Walker, 1990, The use of kinematic redundancy in reducing impact and contact effects in manipulation, 434

Youcef-Toumi, 1989, Impact and force control, 410

Cai, 1988, Robust control of unconstrained maneuver and collision for a robot manipulator with bounded parameter uncertainty, 1010

Mills, 1990, Manipulator transition to and from contact tasks: A discontinuous control approach, 440

Lockhorst, 1990, Implementation of discontinuous control law on a robot during collision with a stiff environment, 56

Dupont, 1990, Friction modeling in dynamic robot simulation, 1370

Popov, 1978

Armstrong, 1988, Friction: experimental determination, modeling and compensation, 1422

Armstrong, 1990, Stick -slip arising from Stribeck friction, 1377

Trinkle, 1989, A quasi-static analysis of dexterous manipulation with sliding and rolling contacts, 788

Whitney, 1977, Force feedback control of manipulator fine motions, Trans. ASME J. Dyn. Syst. Meas. Control., 98, 91, 10.1115/1.3427095

Whang, 1988, Nonlinear robust hybrid control of robot manipulators, 1204

Chen, 1989, Robust hybrid control of robot manipulators, 236

Mason, 1981, Compliance and force control for computer controlled manipulators, IEEE Transactions on Systems, Man and Cybernetics, SMC-11, 418, 10.1109/TSMC.1981.4308708

Raibert, 1981, Hybrid position/force control of manipulators, Trans. ASME J. Dyn. Syst. Meas. Control, 102, 126, 10.1115/1.3139652

Kazerooni, 1987, Robust, Non-linear impedance control for robot manipulators, 741

De Schutter, 1986, Compliant robot motion: task formulation and control

Franklin, 1988, Compliance and learning: control skills for a robot operating in an uncertain world

Lee, 1985, A geometric approach to deriving position/force trajectory in fine motion, 691

Salisbury, 1980, Active stiffness control of a manipulator in Cartesian coordinates

Salisbury, 1982, Kinematic and force analysis of articulated mechanical hands

Houshangi, 1987, Eigenvalue assignment and performance index based force-position control with self-tuning for robotic manipulators, 1386

Konstantinov, 1985, Force feedback control of parallel topology manipulating systems

Koivo, 1983, Adaptive Linear Controller for robotic manipulators, IEEE Trans. on Automatic Control, AC-28, 163

Fu, 1987

Paul, 1976, Compliance and control, 694

Patarinski, 1991, Combined position/force control of robot arms

Yoshikawa, 1986, Dynamic hybrid position/force control of robot manipulators: Description of hand constraints and calculation of joint driving force, 1393

Yoshikawa, 1987, Dynamic hybrid position/force control of robot manipulators: Controller design and experiment, 2005

Cai, 1990, Control of a manipulator under multiple contact between rigid curved surface, 1356

Freund, 1973, Decoupling and pole placement in non-linear systems, Electr. Lett., 9, 373, 10.1049/el:19730275

Vibet, 1988, Impedance and position-speed-acceleration robot controllers, Int. J. Robotics. Automation, 3, 9

Tarn, 1988, Robot arm force control through systems linearization by nonlinear feedback, 1618

Luh, 1980, Resolved-acceleration control of mechanical manipulators, IEEE Trans. on Automatic Control, AC- 25, 468, 10.1109/TAC.1980.1102367

Craig, 1988, Adaptive control of mechanical manipulators, Int. J. Robotics Res., 6, 10.1177/027836498700600202

Slotine, 1987, Adaptive strategies in constrained manipulation, 595

Hamilton, 1988, Globally stable compliant motion control for robotic assembly, 1179

Niemeyer, 1989, Computational algorithm for adaptive compliant motion, 566

Pourboghrat, 1987, Adaptive hybrid position/force control of robotic manipulators, 273

Pelletier, 1990, An adaptive compliant motion controller for robot manipulators based on damping control, 78

Kelly, 1989, On adaptive control of robot manipulators, 572

Eppinger, 1987, Understanding bandwidth limitations in robot force control, 904

Eppinger, 1988, Modeling robot flexibility for endpoint force control, 165

Stepan, 1991, Force control stability and environment compliance in robotics

An, 1989, The role of dynamic models in Cartesian force control of manipulators, Int. J. Robotics Res., 51, 10.1177/027836498900800403

Wen, 1990, Stability analysis of position and force control problems for robot arms, 252

Townsend, 1987, The effect of Coulomb friction and stiction on force control, 883

Maples, 1986, Experiments in force control of robotic manipulators, 1381

Kazerooni, 1988, Stability criteria for compliant maneuvers, 1166

De Schutter, 1988, Compliant robot motion: II. A control approach based on external control loops, Int. J. Robotics Res., 7, 18, 10.1177/027836498800700402

Qian, 1992, The role of damping and low pass filtering in the stability of discrete, time-implemented robot force control, 1368

Qian, 1992, Introducing active linear and nonlinear damping to enable stable high gain force control in case of stiff contact, 1374

An, 1987, Kinematic stability issues in force control of manipulators, 897

Vidyasagar, 1985

Colgate, 1989, An analysis of contact instability in terms of passive physical equivalents, 404

West, 1985, Kinematic analysis and mechanical advantage of manipulators constrained by contact with the environment, 175

Hennessey, 1986, Robotic force tracking using an IRCC, 135

Sharon, 1988, High bandwidth force regulation and inertia reduction using a macro/micro manipulator system, 126

Khatib, 1991, The design of a high-performance force-controlled manipulator

Merlet, 1988, Force-feedback control of parallel manipulators, 1484

Alberts, 1988, Force control of multiarm robot systems, 1490

Uchiyama, 1988, A symmetric hybrid position/force control scheme for the coordination of two robots, 350

Seraji, 1988, Coordinated adaptive position/force control of dual arm robots, Int. J. of Robotics and Automation, 3, 140

Vossoughi, 1990, Using impedance controlled robots for simulating manipulation tasks occurring in a gravityless environment, 62

Walker, 1990, A world model based approach to manipulator control, 453

De Schutter, 1992, Tutorial M6: model based specification and execution of compliant motion tasks

Liu, 1990, Robotic grinding force regulation: design, implementation, and benefits, 258

Paul, 1979, Evaluation of manipulator control programming languages

Taki, 1989, A programming system for intelligent robots with force feedback, 9, 29

Van Brussel, 1985, Force sensing for advanced robot control

Mitchell, 1985, A new magnetoelastic force transducer, 707

Hirose, 1990, Development of optical 6-axial force sensor and its signal calibration considering non-linear interference, 46

Shimano, 1977, On force sensing information and its use in controlling manipulators, 119

Miller, 1990, An object-oriented environment for robot system architectures, 352