Glossary · Robotics
Force control
Also known as: Force/torque control
German: Kraftregelung
In robotics, force control is a control method in which the robot regulates the contact force or torque between its tool and the environment, measured by a force/torque sensor or estimated from joint torques, instead of only following a programmed position.
- Robotics
In one sentence
Force control lets a robot regulate contact force with its environment using sensor feedback, as needed for grinding, polishing or press-fitting.
Example
During deburring, force control keeps the spindle pressed against the casting edge at 20 N even though the casting geometry varies by a few millimeters.
How it applies
- Engineering: Force control is used where position alone cannot guarantee the result: surface finishing, assembly with tight fits, testing and hand guiding. Directions can be split, controlling force in one axis and position in the others (hybrid control).
- Commissioning: Sensor mounting, calibration and gain tuning determine stability. Poorly tuned force loops can oscillate or push hard against a surface when contact is lost and regained.
- Documentation: The documentation team should state the force range, which directions are force-controlled, the reaction when a force limit is exceeded, and that force control used for process quality is not a safety-rated force limit unless declared as such.
Force control vs. impedance control
Force control tracks a desired force directly. Impedance control sets a desired relationship between force and position deviation, so the robot behaves like a spring and damper. Both create active Compliance (robotics).