Servo for Industrial Robot with Force Control

摘要

Limitations of commercially available industrial robots are addressed, including their inability to sense or control the forces that develop during encounters between the manipulated and the fixed objects during assembly and fitting operations. The development of a low-cost robot technology which includes these adaptive control capabilities is described. The approach is based upon a simple control system which relies heavily upon software and mass produced components. It is predicted that the lower anticipated robot cost ($15,000) and reduced reliance on jigs, fixtures, and external sensors would reduce robot work station costs to $3 to $4 per hour.