Process
Interaction control
You might say: compliance, force control
Interaction control shapes the relation between robot motion and contact force when the robot touches an object or environment.
- What it does
- It supports contact tasks such as insertion and wiping and lets the robot yield when contact is expected.
- Ask
- Should the robot behave stiff or compliant in each direction?
What to look for
- Robot touching an object or environment
- Insertion or wiping contact
- Stiff or compliant motion
- Robot yielding on expected contact
Parts
- Virtual stiffness and damping: Virtual stiffness K maps displacement from an equilibrium to a restoring force; damping D adds a velocity-dependent term.
Catalogue: Mode
- Position control: Position control tracks a motion target; contact force is a consequence unless another loop limits it.
- Impedance control: Impedance control is a robot control objective involving a chosen motion–force relationship.
- Admittance control: Admittance control is a force-to-motion control mode.
- Direct force control: Direct force control regulates contact force toward a setpoint along selected task directions.
Sources
- Kevin M. Lynch and Frank C. Park, Modern Robotics: Mechanics, Planning, and Control, Ch. 11 §§11.5–11.7, force, hybrid and impedance control
A force-control goal makes sense when the end-effector is in contact with something, but not when it is moving in free space.
- Bruno Siciliano and Oussama Khatib (eds.), Springer Handbook of Robotics, Ch. 9, Force Control
Pure motion control turns out to be inadequate because the unavoidable modeling errors and uncertainties may cause a rise of the contact force.
Use it on your project
teardown-apply: hold "Interaction control" (interaction-control) from the teardown at https://teardownatlas.com/robotics/ against my project
Paste it into a coding agent that has the teardown skills.
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