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

Gadringer, Stefan; Gattringer, Hubert; Mueller, Andreas

doi:https://doi.org/10.5194/ms-13-361-2022

Articles | Volume 13, issue 1

Mech. Sci., 13, 361–370, 2022

https://doi.org/10.5194/ms-13-361-2022

© Author(s) 2022. This work is distributed under
the Creative Commons Attribution 4.0 License.

Special issue: Advances in Service and Industrial Robotics – RAAD2021

Mech. Sci., 13, 361–370, 2022

https://doi.org/10.5194/ms-13-361-2022

© Author(s) 2022. This work is distributed under
the Creative Commons Attribution 4.0 License.

Articles | Volume 13, issue 1

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

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.