forceposition
Force-position control is a robotics control paradigm that coordinates the regulation of an end-effector’s position with the regulation of contact forces during manipulation tasks. It addresses the need for safe, accurate, and compliant interaction with uncertain or delicate environments, such as assembling parts, surface finishing, or robot-assisted surgery.
There are several implementations of force-position control. Hybrid force/position control assigns separate control tasks to motion
Implementation relies on sensors such as force/torque sensors or tactile sensors and precise position sensing from
Applications span industrial manipulation, assembly, polishing and deburring, hand-guiding and haptic devices, and surgical robotics. The