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This is a record of a document published elsewhere, first published by the United States Patent and Trademark Office, as US-12572162-B2, on 10 March 2026. OpenTechnical did not first disclose it. The identifier, hashes and timestamps below record what this library served and when, not when the material became public. View the original.

OT-2026-000002080

System and method for precise force control of robot

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Permanent URL
Classification
Robotics & Automation › Robot Architectures
Inventors
BAEK JAEMIN, KANG DONGYEOP, KWON WOOKYONG, PARK CHAN EUN, SHIN SEUNGCHEON
Assignee
ELECTRONICS & TELECOMMUNICATIONS RES INST
Original source
US-12572162-B2, the United States Patent and Trademark Office, 10 March 2026
Document SHA-256
af7015e693c350acd6f7fd3de689e916888b60b99969fc38a060b7c824595a9a

Abstract

Provided is an invention capable of securing versatility and precision in admittance control and enabling target force control on a surface of an object having a different property, in which a mutual contact force-based compensation method is used in the existing admittance control method to output a target force. To this end, the present disclosure provides a compensation algorithm that changes according to a mutual contact force with an object having a different physical property and mass-spring-damper parameters using data acquired while controlling a force input from a robot is provided. In addition, the present disclosure automatically performs tuning on coefficients related to a factor of a robot force control based on data obtained by executing a mutual contact force-based compensation in the conventional admittance control.

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Citation

OpenTechnical Publication OT-2026-000002080, “System and method for precise force control of robot,” published September 15, 2026 at 19:10:39 UTC, https://opentechnical.org/p/OT-2026-000002080.

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