How To Select a Force/Torque Sensor for Robotic Assembly
The Benefits of Using a Force/Torque Sensor with a Robot
Current robots use a position-based control strategy, which can be ineffective as an assembly tool in applications where the assembly tolerance is less than the positional uncertainty. When an industrial robot is equipped with a force/torque sensor which measures six degrees of freedom (Fx, Fy, Fz, Tx, Ty, and Tz), the interaction forces can be measured, fed back to the robot controller, and used to modify the desired trajectory of the robot. This allows robots to perform assembly tasks such as fitting splined parts together or inserting pistons into bores. Likewise, other tasks such as grinding and deburring often require robots to maintain a constant contact force, allowing them to control the quality of finish and the amount of material removed. Without a sensor, robots cannot monitor and react to the contact forces needed for these tasks.