Mechatronics pp 429-437 | Cite as

Force-Torque Control Methodology for Industrial Robots Applied on Finishing Operations

  • T. Kubela
  • A. Pochyly
  • V. Singule
  • L. Flekal
Conference paper


The paper deals with the force-torque control methodology for industrial robots that can be more or less applied on a variety of industrial applications such as grinding, drilling, automatic assembly or other applications where the key aspect is to control the physical contact between a tool and a workpiece mounted on the robot gripper or vice versa. In other words, contact forces and respective moments need to be controlled in real-time. The experimental set-up is based mainly on a KUKA robot (KR3, KR 16), FTC sensor (SCHUNK FTC-050), external PLC system (Embedded PC Beckhoff) for main control structures and other devices. Main practical results are concerned with determining the contact between a workpiece, grasped in the robot gripper, and the surface while maintaining a constant force during robot motion.


Contact Force Industrial Robot Robot Controller Pneumatic Cylinder Finish Operation 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2011

Authors and Affiliations

  • T. Kubela
    • 1
  • A. Pochyly
    • 1
  • V. Singule
    • 1
  • L. Flekal
    • 1
  1. 1.Institute of Production Machines, Systems and Robotics, Faculty of Mechanical EngineeringBrno University of TechnologyBrnoCzech Republic

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