A ROBOT ARM FORCE CONTROL SYSTEM‘GRAFC’

A robot force control system consisting of vision and force/torque sensors is constructed.The system iscomposed of two levels:the upper level and the lower level.The upper level is responsible for task planningand supervising as well as force control.It uses vision information for the planning of gross motion,and forcesensory data and position data feedback by lower level for the control of fine motion.The lower level,a servosystem developed in our laboratory,is in charge of the servoing of joints.On this system,some contact tasksrequiring of force control have been implemented.