A Robust Robot Correction System Using 6-Axis Force/Torque Sensor

Normal trajectory plays a vital role to enhance the quality of robotic- based surface finishing. This paper presents a novel and robust solution for real- time robot (manipulator) pose correction employing a 6-axis force sensor. The proposed scheme enables the robot to automatically correct postures in real-time on the curved surface. This approach does not depend on any prior geometric information of the workpieces, such as a CAD model or a 3D point cloud. The system depends only on the feedback data of a 6-axis force/torque sensor, positioned between the robot flange and a tool. The pose adjustment algorithm determines the normal relationship between the contact tool and the workpiece’s surface using the feedback information from the sensor. The experimental results show that the proposed study has great potential to automate surface finishing operations such as robotic-based polishing, particularly on challenging curved surfaces.