Control with a Compliant Force-Torque Sensor

There are assembly tasks which require a compliant device at the end-effector since possible disturbances are beyond the bandwidth of robot control. This paper discusses a compliant force-torque sensor for assembly. Two aspects are explained in detail: Force control considering a significant force dependent displacement, and control of an end-effector with an elastic mounting during fast unconstrained motion. The latter uses an adaptive scheme which serves as a further level in a hierarchical position-based control. Experimental results are given which show the limits of industrial robots.