Resolved Motion Force Control Of Robot Manipulator

Chi Haur Wu, Richard P. Paul

Research output: Contribution to journalArticlepeer-review

48 Scopus citations


A new Cartesian position control called resolved motion force control (RMFC) has been developed for robot manipulator. It adapts force convergence concept to control the Cartesian force and position instead of classical joint control. In this way, the changing configurations, gravity loading, and internal friction of the manipulator can be automatically compensated. Also, the method only uses the Jacobian transpose matrix such that it is applicable to more than six degrees-of-freedom manipulator without increasing the computational burden.

Original languageEnglish (US)
Pages (from-to)266-275
Number of pages10
JournalIEEE Transactions on Systems, Man and Cybernetics
Issue number3
StatePublished - 1982

ASJC Scopus subject areas

  • Engineering(all)


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