Mechanical Sciences
Mechanical Sciences
Mechanical Sciences
Articles | Volume 13, issue 1
Articles | Volume 13, issue 1
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:
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, Hubert Gattringer, and Andreas Mueller

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Latest update: 12 Jul 2025
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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.
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Special issue
Advances in Service and Industrial Robotics – RAAD2021