Stefan Gadringer, Hubert Gattringer, Andreas Müller,
"Assessment of Universal Robot Force Control and External Force Compliance Device for Surface Treatment"
: Advances in Service and Industrial Robotics - RAAD 2021, Serie Mechanisms and Machine Science, Nummer 102, Springer International, Seite(n) 78-85, 2021, ISBN: 978-3-030-75259-0
Assessment of Universal Robot Force Control and External Force Compliance Device for Surface Treatment
Sprache des Titels:
Advances in Service and Industrial Robotics - RAAD 2021
Nowadays, automatized surface treatment via robots is already common in the manufacturing industry and such robotic solutions require accurate and reliable force control for high-quality surfaces. However, no standardized test for the quality assessment of robot force control exists yet. By comparison, the ISO 9283 test is used for the evaluation of the robot positioning accuracy. This paper introduces different test scenarios as well as test setup for a force control quality assessment and evaluates the force control of a Universal Robot UR10e and a FerRobotics ACF-K 109/04, an external force compliance device. For the performance comparison, an ATI force/torque sensor, which is mounted below a work piece, measures the applied force either by the UR or by the ACF. The measured forces are further transformed to the UR TCP frame. Then, only the z-component of the force or rather the normal force is relevant for surface treatment and hence important for the evaluation. For each test case, the mean value of five test runs with same parameters is used for the assessment. Results for both UR and ACF force control are presented for varying desired contact velocities as well as desired forces. These results show the advantage of the ACF-K 109/04 over the UR10e force control for high-dynamic force control scenarios.