Robot interaction control is one of the most challenging targets
for industrial robotics. While it would provide the robotic systems
with a high degree of autonomy, its effectiveness is limited by the
complexity of this problem and by the necessity of special sensors
(six-dof force sensors). On the other hand, the control
methodologies to be adopted for addressing this problem can be
considered mature and well-assessed. All the known interaction
control strategies (e.g. impedance, direct force control) are
tackled and reshuffled in a geometrically consistent way for
simplification of the task specification and enhancement of the
execution performance. This book represents the first step towards
the application of theoretical results at an industrial level; in
fact each proposed control algorithm is experimentally tested here
on an industrial robotic setup.
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