Advanced Robotics Workshop
Authors: Bernhard Rameder (Johannes Kepler University Linz) , Hubert Gattringer , Andreas Müller , Ronald Naderer (FerRobotics Compliant Robot Technology GmbH)
When employing robots for tasks such as polishing or surface grinding, vibration and peak interaction forces exerted at the robot or the part must be limited. Therefore, such tasks are performed with the help of Active Contact Flanges (ACF). These devices are force controlled and enable fast processing speeds. High contact velocities of the tool result in significant impact forces during interaction with the environment. Consequently, a critical control aspect is the reliable estimation of these forces, which is the focus of this paper. A dynamical model is developed, resulting in a linear time invariant equation of motion, which is solved analytically. Hereby, a homogeneous and a particular solution is derived. The maximum contact force is then determined based on an optimization. Experimental results demonstrate high consistency between measured and calculated contact forces.
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How to Cite: Rameder, B. , Gattringer, H. , Müller, A. & Naderer, R. (2026) “Peak Force Evaluation for an Active Contact Flange”, Proceedings of the Austrian Symposium on AI, Robotics, and Vision. 3(1).