ABSTRACT

The proposed method for …

by the user

be described in detail

its effectiveness will be proved by experiments

on the first robotic setup, … ; on the second setup, ….

The validity of the proposed method is verified through a rigorous proof and experimental studies.

INTRODUCTION

… design has been widely discussed in robotics.

引用：In [?], the historical development of … methods is reviewed.

Furthermore,

devoted to this topic …

This paper is mainly focused on implementation problems of force controllers on industrial robots, with the aim of providing a design technique to cope with the typical limitations of an industrial architecture.

Two basic strategies can be considered to ensure regulation of the contact force to a desired value during the interaction of a robot manipulator with the environment.

One approach is …

The second approach is called …

compared to …

On the other hand, when the robot interacts with a rigid surface, the contact force is a constraint reaction, hence, the system is constrained., losing some degrees of freedom.

In this case,

As for the opposite, if the contact surface is compliant, the contact force can be related to end-effector displacements and the inner/outer loop strategy can be usefully adopted to regulate the contact force.

so as to …

Experiments show that …

… which accords well with the upper bound of the human compliant motion performance.

The goal of this paper is to provided a simple and efficient tool for automatic synthesis of a force controller implemented, according to the inner/outer loop technique, on an industrial robot.

Therefore, …

… which can be easily automatized.

in terms of a desired performance required to the robotic system.

On the basis of …

by taking into account the system constraints

The first step of the procedure is to

act on …

…  is carried out by adopting … such as …

The successive step (连续的) is to …

which guarantees that the specifications are satisfied.

One of the key features of the …

A number of ... will be carried out in order to illustrate how the procedure works.

… will be experimentally tested on …

… equipped with …

Results in terms of step response will be analyzed and critically(批评性地) discussed.

for the purpose of demonstrating the effectiveness and reliability of the proposed … , a complex task of mechanical parts assembly will be executed on a second industrial robot.

The structure of this paper is as follows.

some conclusions will be drawn about futures and limits, as well as applicability, of the proposed method.

CONSLUSIONS

A simple and effective systematic procedure for the design of … has been presented in this paper.

It can be considered a useful tool to do …

It allows the user to specify …

… has been described in detail

the way how the procedure works has been explained with reference to a number of design examples.

… has been experimentally validated on …

… have confirmed that …

In fact,

as demonstrated by …

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