Robotic force control using virtual trajectory generation

A control method is introduced to permit the retrofit of a large class of c ommercially available industrial robots with a contact force control capabi lity. 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 Co rporation A460 six degree of freedom industrial robot, are presented which demonstrate the effectiveness of the proposed approach.