Force control is a robot control paradigm in which the controller regulates the interaction force between the end-effector and its environment, rather than purely tracking a desired position trajectory. By closing the loop on measured contact forces from a force-torque sensor, the robot can perform compliant tasks such as surface grinding, peg-in-hole insertion, and human-robot handover without requiring precise environmental models. The main architectures are impedance control, admittance control, and hybrid position/force control, each suited to different environment stiffness regimes.
Semantic Classification
Content
Primary Definition
Force Control - Force Control in robotics systems