Method for performing force and moment control of robot system, involves determining target position of tool midpoint based on actual position, notional vectorial spacing and notional vectorial target spacing

摘要

A notional vectorial target spacing between tool midpoint (TCP) and a contact point (8) between tool and workpiece (1) is determined from deflections of compliance, which corresponds to target forces and moments. A notional vectorial spacing between tool midpoint and contact point between tool and workpiece is determined from deflections of compliance, which corresponds to detected forces and moments. The target position (3) of tool midpoint is determined based on actual position, notional vectorial spacing and notional vectorial target spacing.