Preparing the published article.
Force Control in Assembly Applications
How robots learn to feel the fit.
Three approaches
| Approach | Principle | Fits |
|---|---|---|
| Force/torque sensor | Direct measurement at the wrist | Precision assembly, polishing |
| Joint current estimation | Infers external force from motor current | Simple contact tasks |
| Passive compliance | Elastic element absorbs misalignment | Generous-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.