Robotic Force Control Using Virtual Trajectory Generation

[+] Author and Article Information
Timothy S. Fielding, James K. Mills

Laboratory for Nonlinear Systems Control, Department of Mechanical and Industrial Engineering, University of Toronto, 5 King’s College Rd., Toronto, Ontario, Canada M5S 3G8

J. Dyn. Sys., Meas., Control 121(2), 320-322 (Jun 01, 1999) (3 pages) doi:10.1115/1.2802475 History: Received October 31, 1997; Online December 03, 2007


A control method is introduced to permit the retrofit of a large class of commercially available industrial robots with a contact force control capability. In this control algorithm, the outer force loop modifies the desired position input trajectory by solving two sets of differential equations as initial value problems. Experimental results, obtained on a CRS Robotics Corporation A460 six degree of freedom industrial robot, are presented which demonstrate the effectiveness of the proposed approach.

Copyright © 1999 by The American Society of Mechanical Engineers
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