---
publication_id: "OT-2026-000002080"
title: "System and method for precise force control of robot"
published_at: "2026-09-15T19:10:39.936062Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000002080"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j9/1633"
  - "g05d15/01"
  - "g05d15/01"
  - "g05d15/01"
  - "b25j9/1653"
  - "g05b2219/39339"
---

# System and method for precise force control of robot

## 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.