Control of robotic systems in contact tasks: An overview (Q1387060)

The present paper presents an overview of the methods existing in the literature for control of robotic systems in contact tasks. Some early ideas and their later extension as well as new control concepts and trends are considered. The most relevant compliant motion control aspects are considered. The classification of the concepts is presented and the relation between basic control methods is given. A review of both passive and active compliant motion control strategies is performed. At the end, some possible future investigations on this subject are outlined. The paper is a nice tool for studying as well as for research in the field of robot control.