Type of Force control: Force_Mode()

Technical Questions
1

Hi all!

I would like to know which is the control scheme used in the UR5e.
I need it just to write the correct thing in my thesis work. Not interested in specific details.

I suppose it’s a Hybrid Impedance and Force-Position control scheme since, in force_mode(), the robot behaves exactly as a combination of the two control strategies (Impedance+Hybrid).
Is it correct?

I haven’t found any document and paper about it.

Thanks!

2

@mmi is it possible to have just a brief insight about the name/type of the controller used?
Thanks a lot.

3

I’d say Force-Position, but I’m not an expert in control area :wink:

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