The first reconfiguration procedure of the passive gripping kinematic with force torque control was realized with the KUKA robot and the RSI interface: The inertial straight line path in y-direction of the robot could be automatically adapted to a force/torque controlled circular movement (see figure 1). The measured forces and torques of the experiment are diagrammed in the following figure 2. The algorithm for force compensation has been proved and works well.

Figure 1: test scenario with force controlled robot path

Figure 1: forces (left) and torques (right) during the controlled robot movement

The changing influence of the gravitational force of the passive arms is seen in the Y component of the measured forces and in the X component of the torque. There are some problems with the operating range of the force torque sensor: In some cases the reaction forces of the passive kinematic are higher than the maximum load force of the sensor. In the first step the grippers will be equipped with force absorbers to avoid force limitations during further tests. The second step is the exchange of the force torque sensor with a sensor with higher force range. The overall work progress of the experiment is without delays. Task 5 and 6 are currently in process.