What is the purpose of using a force/torque sensor in robotic material removal applications?

The purpose of using a force/torque sensor in robotic material removal applications is to provide real-time feedback on the forces and torques exerted by the robot's tool on the workpiece, enabling precise control of the material removal process. Material removal applications, such as grinding, polishing, deburring, and machining, require the robot to maintain consistent contact force with the workpiece to achieve the desired surface finish and material removal rate. A force/torque sensor, typically mounted between the robot's wrist and the tool, measures the forces and torques in six degrees of freedom (Fx, Fy, Fz, Tx, Ty, Tz). This information is fed back to the robot controller, which adjusts the robot's motion to maintain the desired contact force and prevent excessive force that could damage the tool or the workpiece. For example, in a robotic grinding application, the force/torque sensor can be used to maintain a constant grinding force, ensuring that the material is removed evenly and efficiently. If the sensor detects that the force is too low, the robot controller can increase the force by moving the tool closer to the workpiece. If the force is too high, the controller can reduce the force to prevent overheating or damage to the grinding wheel. The force/torque sensor allows the robot to adapt to variations in the workpiece geometry and material properties, ensuring consistent and high-quality material removal. By monitoring force and torque, the system can also detect tool wear or collisions.