Section Force Control in Assembly Applications Published: Date Published on Zhilianhai
Three approaches Approach Principle Fits Force/torque sensor Direct measurement at the wrist Precision assembly, polishing Joint current estimation Infers external force from motor current Simple contact tasks Passive compliance Elastic element absorbs misalignment Generous-tolerance insertion
Engineering notes Force control needs path planning that anticipates contact, or it oscillates. Size the sensor for the maximum contact force while keeping resolution. Compensate for temperature drift, or recalibrate on a schedule. Force limits are not a safety function on their own — keep mechanical and electrical protection. Information is provided for initial research. Verify specifications, pricing, policies and standards against the original source before making decisions.
