[Knowledge] The application of force sensor in robot

Constant force

Torque sensors were first manufactured for applications such as sanding and polishing. Because these applications are difficult to automate, because the robot needs some force feedback to determine that it is not enough force.

By introducing a force feedback loop into your program, you can easily automate these applications and achieve consistent manufacturing processes. In this case, you need to use an external device instead of an embedded solution from a robot manufacturer.

2. Target positioning

We often come into contact with customers who generally believe that the only way to locate and quantify parts is to use a vision sensor. But in reality this is not the only solution. It is undeniable that the vision system is a good way to locate or quantify components, but it is also feasible to use force sensors to find and detect components. Determining their position on the XY plane is one thing, and determining their height is another matter. In fact, to do this, you need a 3D vision system. If it's a bunch of objects, you don't need to know the exact tree of the whole object. Just look at the pile of objects every time. The robot only needs to determine the height of the pile of objects and then adjust its grip height continuously.

Another search function that uses a force sensor is the "free mode" of the sensor. This may be due to the failure to take full advantage of the parameters of the FT sensor. The "Free Mode" or "Zero Gravity" mode will allow you to "liberate" the robot's axis, which will enable it to improve its compliance. For example, if you want to tighten a part on a CNC machine, you can free up 2 axes to make the part fit perfectly, while still maintaining a certain grip. This allows the force to act entirely on the center of the component without additional force on the axis of the robot.

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