... in airplane wings or thin, soft materials. The purpose of this study is to develop a novel adaptive force-tracking admittance control scheme aimed at achieving a faster response rate with higher tracking accuracy for robot force control. Design/methodology/approach In the proposed method, the traditional...

... between position and force in the interaction process of the robot–environment. In this control scheme, the pre-PID controller and fuzzy controller are adopted to improve the system force tracking performance in highly dynamic unknown environments, and the fuzzy controller is used to improve...

...Hongli Cao; Ye He; Xiaoan Chen; Xue Zhao Purpose The purpose of this paper is to take transient contact force response, overshoots and steady-state force tracking error problems into account to form an excellent force controller. Design/methodology/approach The basic impedance function...