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.
Industrial Robot: An International Journal – Emerald Publishing
Published: Feb 1, 2000
Keywords: Grinding; Polishing; Robots