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.

Related authors

Successive dynamic programming and subsequent spline optimization for smooth time optimal robot path tracking
M. Oberherber, H. Gattringer, and A. Müller
Mech. Sci., 6, 245–254, https://doi.org/10.5194/ms-6-245-2015,https://doi.org/10.5194/ms-6-245-2015, 2015
Short summary
A two-stage calibration method for industrial robots with joint and drive flexibilities
M. Neubauer, H. Gattringer, A. Müller, A. Steinhauser, and W. Höbarth
Mech. Sci., 6, 191–201, https://doi.org/10.5194/ms-6-191-2015,https://doi.org/10.5194/ms-6-191-2015, 2015
Representation of the kinematic topology of mechanisms for kinematic analysis
A. Müller
Mech. Sci., 6, 137–146, https://doi.org/10.5194/ms-6-137-2015,https://doi.org/10.5194/ms-6-137-2015, 2015

Related subject area

Subject: Mechanisms and Robotics | Techniques and Approaches: Experiment and Best Practice
Characteristics of the Received Signal of an Ultrasonic Sensor Installed in a Chamber with Micro-Leakage
Wonjun Seo, Seokyeon Im, and Geesoo Lee
Mech. Sci., 12, 1051–1060, https://doi.org/10.5194/ms-12-1051-2021,https://doi.org/10.5194/ms-12-1051-2021, 2021
Short summary
Crushing mechanism of a mobile pellet harvester
Yanyan Ge, Zichao Su, Maohua Xiao, Min Kang, Ruyi Wang, and Qin Zeng
Mech. Sci., 12, 725–733, https://doi.org/10.5194/ms-12-725-2021,https://doi.org/10.5194/ms-12-725-2021, 2021
Short summary
Design and analysis of an innovative flapping wing micro aerial vehicle with a figure eight wingtip trajectory
Shan Jiang, Yong Hu, Qiang Li, Long Ma, Yang Wang, Xiaoqin Zhou, and Qiang Liu
Mech. Sci., 12, 603–613, https://doi.org/10.5194/ms-12-603-2021,https://doi.org/10.5194/ms-12-603-2021, 2021
Short summary
Development of a novel flapping wing micro aerial vehicle with elliptical wingtip trajectory
Qiang Liu, Qiang Li, Xiaoqin Zhou, Pengzi Xu, Luquan Ren, and Shengli Pan
Mech. Sci., 10, 355–362, https://doi.org/10.5194/ms-10-355-2019,https://doi.org/10.5194/ms-10-355-2019, 2019
Design of a robot-assisted exoskeleton for passive wrist and forearm rehabilitation
Mehmet Erkan Kütük, Lale Canan Dülger, and Memik Taylan Daş
Mech. Sci., 10, 107–118, https://doi.org/10.5194/ms-10-107-2019,https://doi.org/10.5194/ms-10-107-2019, 2019
Short summary

Cited articles

ATI Industrial Automation: ATI Delta SI-660-60, https://www.ati-ia.com/products/ft/ft_models.aspx?id=Delta, last access: 6 December 2021a. a
ATI Industrial Automation: Passive Compliant Force Control Device, https://www.ati-ia.com/products/deburr/ForceControl_Main.aspx, last access: 6 December 2021b.  a
B&R Industrial Automation GmbH: B&R X20 AI4632, https://www.br-automation.com/en-gb/downloads/control-and-io-systems/x20-system-coated/analog-io-modules/analog-inputs/x20cai4632/datasheet-x20cai4632/, last access: 11 February 2021a. a
B&R Industrial Automation GmbH: B&R X20 CP3484, https://www.br-automation.com/en-gb/downloads/control-and-io-systems/x20-system/cpus/x20cp3484/datasheet-x20cp3484/, last access: 11 February 2021b. a
Bremer, H.: Elastic Multibody Dynamics – A Direct Ritz Approach, Springer Netherlands, https://doi.org/10.1007/978-1-4020-8680-9, 2008. a
Download
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.