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The following videos showcase the innovative FineForce force control implementation, which is a product of the research project and allows improved force control performance in standard industrial robots. FineForce is able to differentiate between joints with wide and narrow control bandwidth and attempts to utilize the distinct properties of each in such a way that force control performance is improved.

In general, a robot’s hand joints have a wider control bandwidth than its base joints. FineForce is designed to take advantage of this higher level of agility, preferring hand joints for force control activities and using base joints primarily for positioning control.

The first video demonstrates the force-sensitive tracing of an unknown contour by a robot effector at a path velocity of 100 mm/s.

In the second video, the advantages of FineForce over conventional force control implementations are highlighted. Using FineForce, the robot’s response to the externally applied force is faster and considerably more sensitive.

The third and fourth videos demonstrate the grinding of a welding seam and the manual guiding of a robot using FineForce, respectively. The focus of the fifth video is a special characteristic of FineForce allowing a robot to exercise a damped inertial behaviour.