Unlike active
Force Control System of flexible, passive, submissive, which make use of tools or mechanical structure inherent flexibility, simple structure but can't achieve precise constant force control. Robot main power control are mainly through the control arm joint torque force control of direct force control and use of mechanical arm external force control device of additional between relay control of the two methods. The former mechanical arm is suitable for lightweight, good safety; And industrial robots, joint flexibility, because of the large sports quality transmission mechanism of friction and other factors, difficult to achieve direct force control, therefore based on force control between the actuator at the end of the relay control way is more suitable for high speed heavy industrial robots. According to the drive mode existing power control terminal actuators can be divided into mechanical, pneumatic, electric displacement and electric hybrid. The mechanical generally installed on the end actuator spring passive, submissive, advantage is simple structure, but its force control precision is low. Pneumatic by adjusting the air pressure to realize the end of the actuator output force, the advantage is good flexible, force than the big, simple control, but there is slow response, low precision, shortcomings and so on hysteresis. Electric drive type is controlled by motor end actuator force output, the advantages are high control accuracy and response speed, but the quality is great, and poor ability to resist shock vibration faults. While traditional gas-electric hybrid combination of electric drive type and the advantages of pneumatic but still exists the problem of quality. In the process of the polishing force posture coupling problems, namely when the robot is normal deviation, end executor must have local position adjustment function.
