OPENTECHNICAL PUBLICATION
OT-2026-000002080

System and method for precise force control of robot

Published: 2026-09-15T19:10:39.936062Z
Permanent URL: https://opentechnical.org/p/OT-2026-000002080
Categories: Robotics & Automation > Robot Architectures

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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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OpenTechnical publication OT-2026-000002080
Published 2026-09-15T19:10:39.936062Z
https://opentechnical.org/p/OT-2026-000002080