@inbook{e17bb23ab1ff4f008b8aeed17751a5ec,
title = "Force Control and Assembly",
abstract = "This chapter explains the force control strategy used for the parallel active and passive force control of an industrial manipulator. The approach presented is a generic way that makes it possible to do assembly task in a safe manner. This also makes the robot compliant in the presence of an obstruction which applies a reaction force greater than what is expected based on the already identified dynamic model as detailed in previous chapter. A simplified approach is proposed to estimate the dynamic parameters which are useful for the task of peg-in-tube wherein constraints in motion are present. Force control becomes a prerequisite when it comes to performing any contact-based task using a robot so that the inaccuracy in the robot{\textquoteright}s end-effector position or any uncertain changes in its environment could be dealt with ease. The detailed approach for the assembly task, namely, peg-in-tube is discussed.",
author = "Hayat, {Abdullah Aamir} and Shraddha Chaudhary and Boby, {Riby Abraham} and Udai, {Arun Dayal} and {Dutta Roy}, Sumantra and Saha, {Subir Kumar} and Santanu Chaudhury",
note = "Publisher Copyright: {\textcopyright} 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.",
year = "2022",
doi = "10.1007/978-981-16-6990-3_5",
language = "English",
series = "Studies in Systems, Decision and Control",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "115--151",
booktitle = "Studies in Systems, Decision and Control",
}