Force control basics

Author:

Erlbacher Edwin A.

Abstract

There are two commercially accepted methods of force control used in automated surface finishing today. The first method, “through‐the‐arm” force control, applies force using the position of all the robot axes in unison. The second method, “around‐the‐arm” force control, uses the robot for positioning motion only, and applies a controlled force through an auxiliary‐compliant end‐of‐arm tool. Discusses the theory, applicability and features of each of these two technologies.

Publisher

Emerald

Subject

Industrial and Manufacturing Engineering,Computer Science Applications,Control and Systems Engineering

Reference9 articles.

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3. Erlbacher, E.A. (1992), “Robotic surface finishing cell for contoured scalloped parts”, PhD dissertation, University of Texas, Arlington, TX.

4. Erlbacher, E.A. (1993), “A discussion of passive and active pneumatic constant force devices”, Session 20 of the International Robots and Vision Automation Conference, Detroit, MI, April.

5. Graf, T. (1988), “Practical methods for robotic deburring and finishing applications”, Conference Proceedings Volume 2, International Robots and Vision Automation Conference, Detroit, MI, April.

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