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A methodology is developed to integrate a sixdimensional force/torque sensor into a robot programming and control system. It consists of : 1 a formalism for specifying compliant motion tasks, based on orthogonal task frames with force, velocity, and tracking directions, and provided with tools to model the task kinematics; 2 a strategy for the task execution which makes use of external control loops closed around the robot positioning system. Several experiments show the applicability of the methodology.
Schutter et al. (Mon,) studied this question.