Manipulator compliance based on joint torque control

The application of robot manipulators to batch manufacturing product assembly requires the control and monitoring of both robot force and position. A good force sensing technique is imperative to increase the robot´s capabilities in this area. A fast reliable force servo system based on the proper sensing technique is also needed to increase the speed of robot operations. This paper analyzes currently existing force sensing techniques concluding that a joint torque sensing technique will results the best performance in a force servo system. A new, simple, high again, wide bandwidth torque servo system using a joint torque sensor system has been developed and has been verified by using a single joint manipulator. An accurate method of selecting the force servo joints to provide compliance has also been developed. Finally, a complete and consistent algorithm for performing compliance is presented.