{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T10:06:51Z","timestamp":1777716411498,"version":"3.51.4"},"reference-count":30,"publisher":"SAGE Publications","issue":"4","license":[{"start":{"date-parts":[[1989,8,1]],"date-time":"1989-08-01T00:00:00Z","timestamp":617932800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[1989,8]]},"abstract":"<jats:p>Dynamic models are as important in Cartesian force control as they are in position control. A variety of Cartesian force control schemes are examined, comprising some that do incorporate a dynamic model into the control loop (resolved acceleration force control, operational space method, and impedance control) and some that do not (hybrid control and stiffness control). Stability analyses and experimental imple mentations are presented that demonstrate not only that using a dynamic model leads to more accurate control, but also that not using a model can in certain cases make force control unstable. Experiments on the MIT Serial Link Direct Drive Arm show that resolved acceleration force control is stable and accurate in producing force steps and sinusoidal force responses and in complying to sinusoidal position dis turbances.<\/jats:p>","DOI":"10.1177\/027836498900800403","type":"journal-article","created":{"date-parts":[[2007,3,4]],"date-time":"2007-03-04T20:24:06Z","timestamp":1173039846000},"page":"51-72","source":"Crossref","is-referenced-by-count":68,"title":["The Role of Dynamic Models in Cartesian Force Control of Manipulators"],"prefix":"10.1177","volume":"8","author":[{"given":"Chae H.","family":"An","sequence":"first","affiliation":[{"name":"IBM Research Division T. J. Watson Research Center Yorktown Heights, New York 10598"}]},{"given":"John M.","family":"Hollerbach","sequence":"additional","affiliation":[{"name":"Artificial Intelligence Laboratory Massachusetts Institute of Technology Cambridge, Massachusetts 02139"}]}],"member":"179","published-online":{"date-parts":[[1989,8,1]]},"reference":[{"key":"atypb1","first-page":"165","author":"An, C.H.","year":"1987","journal-title":"Proc. IEEE Int. Conf. Robotics and Automation"},{"key":"atypb2","volume-title":"Model-Based Control of a Robot Manipulator","author":"An, C.H.","year":"1988"},{"key":"atypb3","first-page":"890","author":"An, C.H.","year":"1987","journal-title":"Proc. IEEE Int. Conf. Robotics and Automation"},{"key":"atypb4","doi-asserted-by":"publisher","DOI":"10.1177\/027836498600500306"},{"key":"atypb5","volume-title":"Robot motion: planning and control","author":"Brady, M.","year":"1983"},{"key":"atypb6","volume-title":"Compliant robot motion: task formulation and control. Ph.D. thesis, Department Werktuigkunde","author":"De Schutter, J.","year":"1986"},{"key":"atypb7","first-page":"29","author":"Eppinger, S.D.","year":"1986","journal-title":"Proc. IEEE Conf. Robotics and Automation"},{"key":"atypb8","first-page":"904","author":"Eppinger, S.D.","year":"1987","journal-title":"Proc. IEEE Conf. Robotics and Automation"},{"key":"atypb9","doi-asserted-by":"publisher","DOI":"10.1115\/1.3140702"},{"key":"atypb10","doi-asserted-by":"publisher","DOI":"10.1115\/1.3140713"},{"key":"atypb11","doi-asserted-by":"publisher","DOI":"10.1115\/1.3140701"},{"key":"atypb12","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1986.1087045"},{"key":"atypb13","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1986.1087047"},{"key":"atypb14","volume-title":"Commande dynamique dans l'espace operationnel des robots manipulateurs en presence d'obstacles","author":"Khatib, O.","year":"1980"},{"key":"atypb15","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1987.1087068"},{"key":"atypb16","volume-title":"Proc. 23rd IEEE Conf. on Decision and Control","author":"Koditschek, D."},{"key":"atypb17","volume-title":"Preprints 6th CISM-IFToMM Symp. on Theory and Practice of Robots and Manipulators","author":"Lipkin, H."},{"key":"atypb18","volume-title":"MIT Course Notes on Robot Manipulation","author":"Lozano-Perez, T.","year":"1984"},{"key":"atypb19","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.1980.1102367"},{"key":"atypb20","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.1981.4308708"},{"key":"atypb21","volume-title":"MACSYMA Reference Manual. Version 10","author":"Mathlab Group.","year":"1983"},{"key":"atypb22","volume-title":"Modern control engineering","author":"Ogata, K.","year":"1970"},{"key":"atypb23","doi-asserted-by":"publisher","DOI":"10.1115\/1.3139652"},{"key":"atypb24","first-page":"269","author":"Roberts, R.K.","year":"1985","journal-title":"Proc. IEEE Conf. Robotics and Automation"},{"key":"atypb25","volume-title":"Proc. 19th IEEE Conf. Decision and Control","author":"Salisbury, J.K."},{"key":"atypb26","volume-title":"Proc. 24th IEEE Conf. Decision and Control","author":"Shin, K.G."},{"key":"atypb27","doi-asserted-by":"publisher","DOI":"10.1177\/027836498500400205"},{"key":"atypb28","first-page":"262","author":"Whitney, D.E.","year":"1985","journal-title":"Proc. IEEE Conf. Robotics and Automation"},{"key":"atypb29","first-page":"338","author":"Yabuta, T.","year":"1988","journal-title":"Proc. IEEE Conf. Robotics and Automation"},{"key":"atypb30","author":"Yoshikawa, T.","year":"1987","journal-title":"Proc. IEEE Conf. Robotics and Automation"}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/027836498900800403","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/027836498900800403","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:18:17Z","timestamp":1777457897000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/027836498900800403"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1989,8]]},"references-count":30,"journal-issue":{"issue":"4","published-print":{"date-parts":[[1989,8]]}},"alternative-id":["10.1177\/027836498900800403"],"URL":"https:\/\/doi.org\/10.1177\/027836498900800403","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[1989,8]]}}}