Ati Industrial Automation, Inc.

Samuel Koenke

A force control device mitigates or eliminates impact force overshoot upon contact between a robotic tool and a workpiece. Contact is detected while operating the force control device in a position control mode, according to either of a steady state search method or a transient search method. The force applied to the workpiece upon contact is less than a predetermined setpoint force. Upon detecting contact, the force control device performs a bumpless transfer to a force control mode. In force control mode, the force control device ramps the contact force to the predetermined setpoint. The force ramp may be linear, or along a user-defined trajectory. The stiffness of the force control device is different in position and force control modes, controlled by backpressure in a pneumatic cylinder.

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Cary, NC, United States of America

Samuel Koenke