COMPUTATIONAL CONSIDERATIONS IN THE IMPLEMENTATION OF FORCE CONTROL STRATEGIES

This paper discusses computational and experimental details necessary for successfully implementing and evaluating a wide variety of force c ontrol strategies. First, a review of both explicit force and impedanc e control strategies is provided. Second, the basic computational requ irements of these schemes are discussed, and the hardware and timing i nformation for our implementation is provided. Third, computational pr oblems such as noise filtering and sampling rates are explained and di scussed in detail. Finally, a review of the experimental results obtai ned is provided. These results support the previous discussions by dem onstrating the importance of fully considering the implementational de tails required for successful force control of robotic manipulators.