[{"data":1,"prerenderedAt":108},["ShallowReactive",2],{"\u002Fen\u002Fglossary\u002Fforce-control":3},{"id":4,"title":5,"alternateName":6,"body":7,"description":98,"extension":99,"keywords":100,"meta":101,"navigation":102,"path":103,"seo":104,"stem":105,"updated":106,"__hash__":107},"glossary\u002Fglossary\u002Fen\u002Fforce-control.md","Force Control (Impedance \u002F Admittance Control)","力控（阻抗控制\u002F导纳控制）",{"type":8,"value":9,"toc":92},"minimark",[10,15,27,32,65,69],[11,12,14],"h1",{"id":13},"what-is-force-control-in-robotics","What Is Force Control in Robotics?",[16,17,18,22,23,26],"p",{},[19,20,21],"strong",{},"Force control"," means a robot joint regulates its ",[19,24,25],{},"output force\u002Ftorque"," rather than just its position, giving the robot a controllable \"softness\" when contacting the environment or people. Landing a step, carrying objects with two arms, and human-robot collaboration all depend on it — a position-controlled joint rams through unexpected contact, while a force-controlled joint yields.",[28,29,31],"h2",{"id":30},"the-three-approaches","The Three Approaches",[33,34,35,53,59],"ul",{},[36,37,38,41,42,46,47,52],"li",{},[19,39,40],{},"Torque control",": command joint torque directly — the lowest-level, fastest loop; the ",[43,44,45],"code",{},"T_ff"," feed-forward torque in the ",[48,49,51],"a",{"href":50},"\u002Fen\u002Fglossary\u002Fmit-protocol-can","MIT protocol"," serves exactly this;",[36,54,55,58],{},[19,56,57],{},"Impedance control",": command a virtual spring-damper (stiffness Kp, damping Kd) so position error maps to torque — the standard for legged robots; one MIT-protocol frame carries Kp\u002FKd and torque feed-forward together;",[36,60,61,64],{},[19,62,63],{},"Admittance control",": measure external force, output position corrections — common on arms with wrist force sensors, bandwidth-limited by the position loop.",[28,66,68],{"id":67},"do-you-need-a-torque-sensor","Do You Need a Torque Sensor?",[16,70,71,72,76,77,81,82,86,87,91],{},"Friction, efficiency variation, and hysteresis make current-based output-torque estimation less accurate in high-ratio joints, so precision applications often use joint or end-effector force sensors. A low-ratio ",[48,73,75],{"href":74},"\u002Fen\u002Fglossary\u002Fquasi-direct-drive","quasi-direct-drive (QDD)"," joint can estimate output torque from phase current after calibrating motor torque constant, gearbox efficiency, and friction. This supports some proprioceptive and impedance-control tasks, but it does not replace sensing for every high-accuracy or safety-critical application. BXI ",[48,78,80],{"href":79},"\u002Fen\u002Fmotors\u002Fadvanced-motors","85\u002F70\u002F50-series joint actuators"," support joint control through a 19.5:1 ",[48,83,85],{"href":84},"\u002Fen\u002Fglossary\u002Fplanetary-gearbox","planetary design",", MIT-protocol CAN commands, and ",[48,88,90],{"href":89},"\u002Fen\u002Fglossary\u002Fdual-absolute-encoder","dual absolute encoders",".",{"title":93,"searchDepth":94,"depth":94,"links":95},"",2,[96,97],{"id":30,"depth":94,"text":31},{"id":67,"depth":94,"text":68},"Robot force control uses torque, impedance, or admittance control for compliant interaction. Calibrated QDD joints can estimate output torque from phase current.","md","force control, impedance control, admittance control, torque control, compliant robot control",{},true,"\u002Fglossary\u002Fen\u002Fforce-control",{"title":5,"description":98},"glossary\u002Fen\u002Fforce-control",null,"52y-BfXDNxdRGaxDRO3W2bWFON4Judq3kr79hmCJNpA",1785156467178]