Implicit Control

This chapter discusses implicit control for robot manipulators. Although the terminology is not homogeneous in the literature, here we assume that an implicit control is a way to control the force arising when the end effector makes contact with the environment, where the force control loop is closed around inner position/velocity loops. As opposed, an explicit control scheme assumes that the output of the force controller is directly in terms of the motion control actuation variables (torques or forces, depending on the nature of the joints).