Newsgroups: comp.robotics
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From: acc@hatstand.cee.hw.ac.uk (Andrew Clegg)
Subject: [Q] What is the proper name for this type of robot force control ?
Message-ID: <ACC.94Aug24111917@hatstand.cee.hw.ac.uk>
Followup-To: comp.robotics
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Organization: Ocean Systems Lab. Heriot-Watt University, Edinburgh
Date: Wed, 24 Aug 1994 10:19:16 GMT
Lines: 30

Do any researchers out there know the correct (well most commonly
used) term for the type of robotic force control where you are just
concerned with applying forces to a stationary object ?

I'm not talking about the actual control technique used - e.g
impedance/stiffness/damping control. What I need is a term that is
used like hybrid position/force control (which describes the action of
a robot moving over a surface whilst applying a force to the surface)
however the term I want should describe the case where there is no
motion in the directions orthogonal to the force.

I had thought of 'Static Force Control' but that sort of implies that
the dynamics of the contact are irrelevant, rather than emphasising the
motionless of the contact.

How about Stationary Force Control or Rigid Force Control (mmm) or
Motionless Force Control ? Any suggestions anybody ?



[ PS - I do realise that hybrid position/force control is actually a 
technique rather than generic term, but I was just trying to
illustrate a point. ]

Andy Clegg________________________________________acc@cee.hw.ac.uk___

Ocean Systems Lab, Dept of Computing & Electrical Engineering,
Heriot-Watt University, Edinburgh, EH14 4AS	  Tel : 031 451 3506
http://www.cee.hw.ac.uk/~acc/acc.html		  Fax : 031 451 3327
_____________________________________________________________________
