ArticleMaterials (Basel, Switzerland)2020
Behavioural Study of the Force Control Loop Used in a Collaborative Robot for Sanding Materials.
Article in Materials (Basel, Switzerland), 2020. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 4 papers, 1 of them a synthesis that pooled it.
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The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.
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Who cites it
4 citing papers in PubMed, 1 synthesis or guideline pooled it.
- A comprehensive review and bibliometric analysis on collaborative robotics for industry: safety emerging as a core focus.Frontiers in robotics and AI · 2025Pooled it
- Extended Dynamic Model for the UR16e 6-Degree-of-Freedom Robotic Manipulator.Sensors (Basel, Switzerland) · 2025Article
- A controller of robot constant force grinding based on proximal policy optimization algorithm.PloS one · 2025Article
- Special Issue of the Manufacturing Engineering Society 2020 (SIMES-2020).Materials (Basel, Switzerland) · 2021Article
Corrections and comments
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Authors and funding
4 authors.
Funding
Abstract
The rise of collaborative robots urges the consideration of them for different industrial tasks such as sanding. In this context, the purpose of this article is to demonstrate the feasibility of using collaborative robots in processing operations, such as orbital sanding. For the demonstration, the tools and working conditions have been adjusted to the capacity of the robot. Materials with different characteristics have been selected, such as aluminium, steel, brass, wood, and plastic. An inner/outer control loop strategy has been used, complementing the robot's motion control with an outer force control loop. After carrying out an explanatory design of experiments, it was observed that it is possible to perform the operation in all materials, without destabilising the control, with a mean force error of 0.32%. Compared with industrial robots, collaborative ones can perform the same sanding task with similar results. An important outcome is that unlike what might be thought, an increase in the applied force does not guarantee a better finish. In fact, an increase in the feed rate does not produce significant variation in the finish-less than 0.02 µm; therefore, the process is in a "saturation state" and it is possible to increase the feed rate to increase productivity.
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.