Abstract
Based upon earlier work [10] on adaptive assembly using an active adaptable compliant wrist, a universal active force control concept has been developed and implemented into a commercial industrial robot. It contains an off-line programming system with a set of conditional move-subroutines in robot or real-world coordinates and further a six degrees of freedom force sensor with control hard- and software. Multi-degree of freedom compliant behaviour is obtained by special software routines. Several task algorithms for constant force contour tracking and automatic assembly are discussed and illustrated with practical experiments.
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