@article{(Open Science Index):https://publications.waset.org/pdf/10001576,
	  title     = {Implicit Force Control of a Position Controlled Robot – A Comparison with Explicit Algorithms},
	  author    = {Alexander Winkler and  Jozef Suchý},
	  country	= {},
	  institution	= {},
	  abstract     = {This paper investigates simple implicit force control
algorithms realizable with industrial robots. A lot of approaches
already published are difficult to implement in commercial robot
controllers, because the access to the robot joint torques is necessary
or the complete dynamic model of the manipulator is used. In
the past we already deal with explicit force control of a position
controlled robot. Well known schemes of implicit force control are
stiffness control, damping control and impedance control. Using such
algorithms the contact force cannot be set directly. It is further
the result of controller impedance, environment impedance and
the commanded robot motion/position. The relationships of these
properties are worked out in this paper in detail for the chosen
implicit approaches. They have been adapted to be implementable
on a position controlled robot. The behaviors of stiffness control
and damping control are verified by practical experiments. For this
purpose a suitable test bed was configured. Using the full mechanical
impedance within the controller structure will not be practical in the
case when the robot is in physical contact with the environment. This
fact will be verified by simulation.},
	    journal   = {International Journal of Computer and Information Engineering},
	  volume    = {9},
	  number    = {6},
	  year      = {2015},
	  pages     = {1447 - 1453},
	  ee        = {https://publications.waset.org/pdf/10001576},
	  url   	= {https://publications.waset.org/vol/102},
	  bibsource = {https://publications.waset.org/},
	  issn  	= {eISSN: 1307-6892},
	  publisher = {World Academy of Science, Engineering and Technology},
	  index 	= {Open Science Index 102, 2015},
	}