Implicit Force Control on UR10

With the revolution of Industry 4.0, robotics and automation comes in handy. The concept of completely automated working lines for production of cars is not a new concept. For automation scenarios, force control plays an integral role in this technology. Force control finds a lot of application in welding, bending of metallic sheets etc.

In this project, an implicit force control scheme is implemented along with trajectory control. In order to understand this scheme, consider the robot as of spring mass system, when robot end-effector continuously pushing the spring down, it exerts some force on the spring. If we could map velocity with force then, this force control scheme could easily be implemented. In this video, robot is required to exert a force n the table of magnitude 10N while moving horizontally on the surface of table.