Abstract—In this paper, the position/force control algorithm using a 6-axis compliance device with force/torque sensing capability is investigated. Differently from the traditional methods using strain gage-type force/torque sensor with very small compliance, this control method uses a compliance device to provide enough compliance between robot and rigid environment. This control method is to simply control the position of a working robot’s end-effector with the total twist of compliance in (13). The position/force control algorithm and control hardware system are developed. A simple design method of a compliance device with diagonal stiffness matrix is presented. The effectiveness has been verified through position/force control experiments.

Index Terms—compliance device, force/torque sensor, position/force control

Cite: Han Sung Kim, "Position/Force Control Using a 6-axis Compliance Device with Force/Torque Sensing Capability," Jounal of Automation and Control Engineering, Vol. 3, No. 1, pp. 35-39, February, 2015. doi: 10.12720/joace.3.1.35-39