Articles | Volume 13, issue 1
Mech. Sci., 13, 361–370, 2022
https://doi.org/10.5194/ms-13-361-2022

Special issue: Advances in Service and Industrial Robotics – RAAD2021

Mech. Sci., 13, 361–370, 2022
https://doi.org/10.5194/ms-13-361-2022
Research article
21 Apr 2022
Research article | 21 Apr 2022

Assessment of force control for surface finishing – an experimental comparison between Universal Robots UR10e and FerRobotics active contact flange

Stefan Gadringer et al.

Data sets

UR10e Force Control Comparison JKU Linz – Institute of Robotics https://github.com/JKU-Linz-Institute-of-Robotics/ur10e_force_control_comparison

Model code and software

UR10e Force Control Comparison JKU Linz – Institute of Robotics https://github.com/JKU-Linz-Institute-of-Robotics/ur10e_force_control_comparison

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Short summary
We introduce different test scenarios and set-ups for a force control assessment. The force control of Universal Robots (UR10e) and FerRobotics (ACF-K 109/04) are evaluated. A force/torque sensor, mounted below a work piece, measures the applied force by the UR or by the ACF. Results for both UR and ACF force control are presented for varying desired contact velocities and forces. These results show the advantage of the ACF-K 109/04 over the UR10e force control for highly dynamic scenarios.