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Force control basics

Force control basics 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. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Industrial Robot: An International Journal Emerald Publishing

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Publisher
Emerald Publishing
Copyright
Copyright © 2000 MCB UP Ltd. All rights reserved.
ISSN
0143-991X
DOI
10.1108/01439910010305130
Publisher site
See Article on Publisher Site

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.

Journal

Industrial Robot: An International JournalEmerald Publishing

Published: Feb 1, 2000

Keywords: Grinding; Polishing; Robots

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