A survey of force control of robot manipulators using soft computing techniques

Abstract

One of the most important and fundamental tasks of the robot manipulators is position/force control. It is necessary to realize the desired force to perform sophisticated tasks such as grinding, deburring, wiping, or assembling of objects with the robot. In this survey paper, we mainly discuss on existing several force control systems for robot manipulators by applying soft computing techniques, such as neural networks, fuzzy reasoning, and fuzzy-neural networks. We also point out some open problems for future work.