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Force Control in Assembly Applications

Published: Publisher: Zhilianhai Robotics News

Three approaches

ApproachPrincipleFits
Force/torque sensorDirect measurement at the wristPrecision assembly, polishing
Joint current estimationInfers external force from motor currentSimple contact tasks
Passive complianceElastic element absorbs misalignmentGenerous-tolerance insertion

Engineering notes

  • Force control needs path planning that anticipates contact, or it oscillates.
  • Size the sensor for the maximum contact force while keeping resolution.
  • Compensate for temperature drift, or recalibrate on a schedule.
  • Force limits are not a safety function on their own — keep mechanical and electrical protection.

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