Forcing a slave to be compliant

[Slavery is acknowledged as lawful in fiqh.](https://islam.stackexchange.com/a/26399/17702) However, there seem to be certain limits of what the owner can do to his slave. I haven't seen a description of what the legal rights of an owner over his slaves (apart from possibly a right of the owner to have sex with his unmarried female slaves) are. In particular: What are the limits on the use of force to make a slave compliant, and what are the legal consequences for transgressing them?