Benefits Of Using Torque-Controlled Robots

Ran Xu - Manager, Robotics, Flexiv Robotics Inc.

This presentation highlights the benefits of using a torque-controlled robot and will explore the three main advantages of this technology. The first advantage is that torque-controlled arms are able to directly control output forces with high accuracy, regardless of the stiffness of the surfaces being worked on. As a result, there is no need for extra compliance devices between the robot and the grinding tools, which makes the system less complicated and easier to maintain. This advantage is particularly significant when multiple sanders need to be attached to the flange of the robot, as it eliminates the need for additional compliance devices, reducing costs and increasing efficiency. The second advantage of using a torque-controlled robot for grinding tasks is that it is the perfect choice for tasks that use remote TCPs. When robots pick up workpieces and push them against large grinders or belt sanders, there is no need to add force control ability to the grinder or sander, which can be expensive. Torque-controlled arms can simultaneously control forces in multiple directions, ensuring that the force applied is consistently accurate in the remote TCP frame, regardless of the robot's configuration. This feature increases accuracy and efficiency, allowing for more precise and controlled grinding. The third advantage of using a torque-controlled robot for grinding tasks is the built-in compliance of torque-controlled joints. These joints are designed to absorb vibrations from grinding tasks, making them more durable in vibration-heavy environments, especially when there is hard contact between the grinder and metal workpieces. The compliance feature ensures that the torque-controlled arms last longer in such environments, reducing downtime and increasing efficiency. The presentation will showcase lab experiments and real-world applications to demonstrate the effectiveness of torque-controlled arms in robotic grinding. We will illustrate how the advantages of torque-controlled arms improve the grinding process, making it more accurate, efficient, and cost-effective.

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