Erlbacher, Edwin A. - In: Industrial Robot: An International Journal 27 (2000) 1, pp. 20-29
There are two commercially accepted methods of force control used in automated surface finishing today. The first … method, “through‐the‐arm” force control, applies force using the position of all the robot axes in unison. The second method …, “around‐the‐arm” force control, uses the robot for positioning motion only, and applies a controlled force through an …