9.13. Force and Compliance in Manipulation

Try these first

1. 1.

   What is position control in robotics?

   Hint

   Think about how you would tell a robot to move to a specific chair.

2. 2.

   Describe passive compliance.

   Hint

   Consider a robot arm that can bend slightly when it hits something.

3. 3.

   What is the primary focus of position control?

   • Achieving a specific force
   • Maintaining a particular position
   • Adjusting to environmental contact

   Hint

   Think of how a robot might be told to place an object.

4. 4.

   True or False: Force control is used primarily in static tasks.

   • True
   • False

   Hint

   Consider if a robot is pushing something; does that seem static to you?

5. 5.

   Design a robotic arm that must assemble parts from a delivery line. Describe how you would implement both position and force control, and discuss potential compliance strategies.

   Hint

   Consider how a human would lift different types of objects.

6. 6.

   Discuss a situation in which overriding passive compliance and using active compliance might be beneficial for a robot handling varied materials on a construction site.

   Hint

   Think about the risks involved in construction projects.