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INTRODUCTION TO 
ROBOT FORCE CONTROL 
Updated 2014-09-03
What is robotic force control? 
In which applications is it useful? 
IN THIS LESSON
Today's industrial robots are in most cases programmed using a position control scheme: 
•The robot tool follows a prescribed trajectory in space which has been pre-programmed. 
•Any deviation in the prescribed trajectory of the encoders is compensated for by the control loop of the robot. 
Robot Position Control
Position control works well for applications in which the robot tool has to go to a prescribed position and does not interact with a rigid environment or workpiece. For example: 
Robot Position Control 
Welding 
Painting 
Pick and place
Other applications require controlling not only the position, but also the applied force. For example, when you erase a blackboard, you need to: 
•move the eraser along the plane of the board (position control), 
•and exert a certain amount of force perpendicular to the board (force control). 
Force Control
Examples of other applications in which the robot needs to control both the position and the force : 
Robot Force Control 
Polishing 
Part insertion 
Hand guiding
To use force control, the robot needs to process information about the force coming from a sensor, typically a 6-axis force torque sensor. Any deviation from the prescribed force measured by the sensor will be compensated for in the control loop and the robot joints will be actuated accordingly. 
Robot Force Control
Learn More on the Robotiq FT 150 Force Torque Sensor
robotiq.com 
TOOLS FOR 
AGILE AUTOMATION

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Robot Force Control Introduction

  • 1. INTRODUCTION TO ROBOT FORCE CONTROL Updated 2014-09-03
  • 2. What is robotic force control? In which applications is it useful? IN THIS LESSON
  • 3. Today's industrial robots are in most cases programmed using a position control scheme: •The robot tool follows a prescribed trajectory in space which has been pre-programmed. •Any deviation in the prescribed trajectory of the encoders is compensated for by the control loop of the robot. Robot Position Control
  • 4. Position control works well for applications in which the robot tool has to go to a prescribed position and does not interact with a rigid environment or workpiece. For example: Robot Position Control Welding Painting Pick and place
  • 5. Other applications require controlling not only the position, but also the applied force. For example, when you erase a blackboard, you need to: •move the eraser along the plane of the board (position control), •and exert a certain amount of force perpendicular to the board (force control). Force Control
  • 6. Examples of other applications in which the robot needs to control both the position and the force : Robot Force Control Polishing Part insertion Hand guiding
  • 7. To use force control, the robot needs to process information about the force coming from a sensor, typically a 6-axis force torque sensor. Any deviation from the prescribed force measured by the sensor will be compensated for in the control loop and the robot joints will be actuated accordingly. Robot Force Control
  • 8. Learn More on the Robotiq FT 150 Force Torque Sensor
  • 9. robotiq.com TOOLS FOR AGILE AUTOMATION