What are the factors that limit the robot's force control performance?

There are many factors that limit force control performance. Here are some of the main ones:

1. Force sensing performance: The force sensor is an important component of the robot's force control system, and its performance will directly affect the robot's operating accuracy and stability. The error, response speed and reliability of the force sensor will affect the robot's force control performance.

2. Performance: The robot's control system is the key to achieving force control. The performance of the control system will directly affect the robot's operating accuracy, stability and response speed. The control system's error, calculation speed and reliability will affect the robot's force control performance.

End force control means that a force sensor is installed at the end of the robot, usually a 1-6 dimensional sensor.

This sensor can measure the interaction force when the robot's end contacts the external environment. By measuring these forces, the robot can obtain information about the external environment and perform more precise operations.

This force control method is usually used in scenarios where the robot is in direct contact with the external environment, such as grasping, carrying, polishing, etc.

Joint force control means that each joint of the robot is equipped with a force/torque sensor. This sensor can detect the force or torque output of each joint, thereby realizing the global force control of the robot.

Through precise control of each joint, the robot can achieve stability and accuracy during operation.

This force control method is usually used in situations where the robot needs to accurately control the output of each joint, such as precision machining, assembly, welding, etc.

Force control bandwidth is an important indicator of robot force control performance!!!

Force control bandwidth refers to the frequency range that a robot can handle during control. The higher the bandwidth, the more complex force control tasks the robot can handle and the faster it can react.

In robot force control, the force between the end effector and the external environment needs to be precisely controlled within a certain range.

If the robot's force control bandwidth is low, it may not be able to respond quickly or handle complex force control tasks, which will affect the accuracy and stability of the robot's operation.

Therefore, improving the robot's force control bandwidth can enhance the robot's operational performance and adaptability, enabling the robot to better cope with complex operating environments and task requirements.

Some advanced robotics and control systems can already achieve higher force control bandwidths, for example by using fast-response sensors, advanced processing, and high performance.

These technologies can improve the robot's operating accuracy and response speed, thereby enhancing the robot's performance in complex environments.

It should be noted that increasing the force control bandwidth is not the only way to improve the force control performance of a robot.

At the same time, other factors need to be considered, such as the accuracy and reliability of sensors, the stability and robustness of control systems, the accuracy and stiffness of actuators, etc. These factors will directly affect the operational performance and adaptability of the robot.

Indirect force control is the implementation of force control through motion control without explicitly closing the force feedback loop. In this approach, the robot indirectly controls the contact force with the external environment by controlling its motion trajectory and posture.

This control strategy is usually based on the robot's dynamic model, which optimizes the motion trajectory and posture to make the contact force reach the desired value. However, since the contact force is not directly measured and fed back, this method may have certain errors and uncertainties.

Direct force control provides the possibility to control the contact force and torque to the desired values ​​by closing the force feedback loop.

In this method, force and torque sensors are installed on the part of the robot that contacts the external environment, which can sense and measure the contact force and torque in real time.

These sensors feed back the measurements to the control system, which adjusts the robot's motion and posture based on these feedback values ​​so that the contact force and torque reach the desired values.

Since the contact forces and torques are directly measured and fed back, this approach allows for more precise control of the interaction between the robot and the external environment.

The introduction of highly compliant force sensing elements can improve the force control performance of the robot. By reducing the stiffness of the force sensor, the impact of the external environment on the robot operation can be reduced, and the stability and reliability of the robot can be improved.

In addition, highly compliant force sensing elements can also improve the safety of robots during operation. In human-robot interaction, the operation of robots requires precise force control to avoid harm to humans.

The use of highly compliant force sensing elements can increase the robot's perception capabilities, enable it to better adapt to different operating environments and task requirements, and improve the robot's safety and reliability in human-machine interaction.

By reducing the stiffness of the force sensor, the flexibility and adaptability of the robot can be increased, which helps to improve the robot's response speed and robustness.

First, reducing the stiffness of the force sensor can make the robot more sensitive to changes in the external environment.

This means that the robot can better perceive and understand changes in the external environment, and thus better adapt to different operating environments and task requirements. This higher perception ability can make the robot more flexible and robust in the face of different operating challenges.

Secondly, reducing the stiffness of the force sensor can reduce the inertia and resistance of the robot, making it easier to control and adjust. This is very important for the force control and motion control of the robot.

The reduction of inertia can make the robot's response more quick and accurate, thereby improving the robot's operating accuracy and response speed.

In addition, reducing the stiffness of the force sensor can also increase the impedance bandwidth of the robot. Impedance bandwidth refers to the range of impedance that the robot can withstand, including forces and torques.

The increase in bandwidth can make the robot more stable and reliable when facing different operational challenges, thereby reducing operational difficulty and risk.