Force-Torque Control
Force-torque control measures forces and moments on robot arms and adjusts motions to flexibly react to external resistance. This allows compliant guiding of the tool during manual programming.
Physical-Chemical Mechanism of Action
Force-torque control measures the forces and moments acting on the axes of motion of a robot arm. These measurements are then used to control and adjust the arm's movements to compensate for external resistance or changes in the environment.
Metallurgical Relevance & Welding Risks
In robotic welding, force-torque control is crucial for precision and safety. Inaccurate control can lead to uneven stresses in the workpiece, which can cause cracks or distortion. Additionally, a lack of adaptability in the robot can result in incomplete welds or insufficient weld penetration.
Workshop Practice & Action Instructions
To use force-torque control effectively, the sensors for forces and moments must be properly calibrated. The control systems should be regularly checked and maintained to ensure they function correctly. For complex welding tasks, it is advisable to set the control to a higher accuracy to make the robot's movements more flexible and precise.