Abstract
The issues of force-torque sensing in semi-automatic systems are considered. The paper describes the main control principles in ergatic systems from the viewpoint of automatic control theory, considers a method for improving the control quality by introducing additional feedback for the operator. The work proposes force-torque sensing as the most promising feedback channel for the implementation, describes the relevance of this channel in the fulfilled automatic control systems, gives examples. A description of the feedback loop for the efforts on the manipulator’s working element is given. The work highlights the following as the main problems in implementing the considered semi-automatic systems: the kinematic chain influence, filtering and delay, gravity compensation, as well as the problem of the natural feedback loop.
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