Abstract:

The past and present of force sensing & control for intelligent machine are reviewed.Four strategies,Impedance control,Force and Position Hybrid Control,Modern Control and Intelligent Control,of the study on force control are analyzed in detail.Four key problems of force sensing and control are described.It is pointed out that integration of AI & intelligent control and synthesis of passive and active compliance are the trend of the future,and good application prospect is viewed.

Key words: robo t ics, intelligent mach ine, comp liance, intelligent cont ro l, fo rce cont ro l, fuzzy neural netwo rk, mult i-senso r fusion