Active force feedback in industrial robotic assembly: A case study

This paper describes the application of a robot with active force feedback to an industrial assembly operation involving fragile, medium-sized workpieces supplied with large position and orientation uncertainties. It is shown that active force feedback yields a better and more reliable technical solution than passive force feedback. In addition, active force feedback is also economically justified, since the passive solution requires additional peripheral equipment in order to deal with the large uncertainties. The active force feedback approach presented is general in nature and not application dependent.

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