Quantitative Analysis of the Force Control Capability of Standard Industrial Robot Axes

Force control is an essential feature for industrial robotics on its way towards new and challenging applications. However, in the field of industrial robots there is only very limited information available on the performance and limitations of industrial robot systems operated in force control mode. Against this background, the paper discusses the force control ability of standard industrial robot axes. Based on experimental analysis of two standard industrial robots (Reis RV6L, Reis RL50), this paper discusses the influence of the mechanical design, the feed-in level on joint space as well as the cycle time of the force controller on the overall force control performance. Investigations have been based on three different contact scenarios: "manual guidance", "contact with a rigid environment" and "impact".