AN OVERVIEW OF ROBOT FORCE CONTROL

This paper reports on the existing robot force control algorithms and their composition based on the review of 75 papers on this subject. Th e objective is to provide a pragmatic exposition with speciality on th eir differences and different application conditions, and to give, a g uide of the existing robot force control algorithms. The previous work can be categorized into discussion, design and/or application of fund amental force control techniques, stability analysis of the various co ntrol algorithms, and the advanced methods. Advanced methods combine t he fundamental force control techniques with advanced control algorith ms such as adaptive, robust and learning control strategies.