Articles | Volume 13, issue 1
Mech. Sci., 13, 361–370, 2022

Special issue: Advances in Service and Industrial Robotics – RAAD2021

Mech. Sci., 13, 361–370, 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.

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Cited articles

ATI Industrial Automation: ATI Delta SI-660-60,, last access: 6 December 2021a. a
ATI Industrial Automation: Passive Compliant Force Control Device,, last access: 6 December 2021b.  a
B&R Industrial Automation GmbH: B&R X20 AI4632,, last access: 11 February 2021a. a
B&R Industrial Automation GmbH: B&R X20 CP3484,, last access: 11 February 2021b. a
Bremer, H.: Elastic Multibody Dynamics – A Direct Ritz Approach, Springer Netherlands,, 2008. a
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.