Tech Briefs Magazine - April 2024 - MD-15

tionary marvel with seven points of articulation,
and that is why adaptive robots
commonly include seven degrees of freedom
(DOF). When compared to a traditional
collaborative robot's six DOF, this
extra dimension of movement provides
enhanced flexibility and maneuverability
in complex operational environments.
With each joint featuring its own
torque sensor, the robot is provided precise
control over every DOF, enhancing
the overall accuracy of its operations.
This precision is vital, especially in applications
such as sanding.
Force control performance can also
be further improved through optimizing
joint configurations. With the help
of the extra DOF, the robot can use the
most efficient 'joint' configuration to
achieve the best possible force control
response and accuracy.
To illustrate the importance of articulation
and sensitivity, imagine
hand-sanding a piece of wood; the coordinated
movements of your wrist, elbow,
and shoulder, in conjunction with your
tactile feedback, are fundamental to the
sanding process. If you attempted to
sand with thick gloves on or with an immobilized
elbow, the task would become
incredibly difficult and time-consuming.
With direct force control, there is no need to install additional passive or active compliance devices between
the robot's flange and the sanders/grinders. This makes the entire sanding solution lighter, more reliable, more
compact, and cost-efficient. (Image: Flexiv)
In essence, by including a seventh degree
of freedom into material abrasion
tasks, the process becomes not only easier
to conform to but also kinematically
more efficient, with an increased level
of precision.
Revolutionizing Precision with
Direct Force Control
Central to the material abrasion
process is the implementation of direct
force control. This method instantly
transforms force commands
Omnidirectional compliance is also crucial, especially with equipment like belt sanders where the robot holds the workpiece to it. To maintain continuous contact
between the workpiece and belt sander, the robot must constantly shift its direction of force during the abrasive process. (Image: Flexiv)
Motion Design, April 2024
15

Tech Briefs Magazine - April 2024

Table of Contents for the Digital Edition of Tech Briefs Magazine - April 2024

Tech Briefs Magazine - April 2024 - Intro
Tech Briefs Magazine - April 2024 - Sponsor
Tech Briefs Magazine - April 2024 - Cov1
Tech Briefs Magazine - April 2024 - Cov2
Tech Briefs Magazine - April 2024 - 1
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Tech Briefs Magazine - April 2024 - 16A
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Tech Briefs Magazine - April 2024 - 16D
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Tech Briefs Magazine - April 2024 - Cov3
Tech Briefs Magazine - April 2024 - Cov4
Tech Briefs Magazine - April 2024 - MD-Cov1
Tech Briefs Magazine - April 2024 - MD-Cov2
Tech Briefs Magazine - April 2024 - MD-1
Tech Briefs Magazine - April 2024 - MD-2
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Tech Briefs Magazine - April 2024 - MD-10
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Tech Briefs Magazine - April 2024 - MD-15
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Tech Briefs Magazine - April 2024 - MD-Cov3
Tech Briefs Magazine - April 2024 - MD-Cov4
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