Compliance Control and Contact Check

With the Compliance Control and Contact Sensing functions, which are unique force control technologies of Doosan Robotics, it is possible to easily perform teaching without repeated operation for accurate point designation since it allows position deviation within a tolerance range between the workpiece and surrounding items during robot operation.

Compliance Control

If force is applied during Approach, Action à and Retract, à it allows deviation from the set position with some level of buffering, like a spring.

Contact Check

The function detects contact with the target, stops at a corresponding position and activates the gripper to grab the target based on the Contact Force, Contact Determination Range and Authorized Force values entered.

• This function must be used with the Compliance Control Function. If a Force value is entered and Compliance Control is not enabled, an error occurs.

• Contact is a function that detects contact with an external force, so the sensitivity of Collision Detection must be set at low levels or Collision Detection must be disabled.

• Pick skills (INTLK_Pick) to set offset (Offset Margin for Contact) values to prevent friction with the ground or object.

• Be careful when using this function, as excessive force can be generated when contacting the external environment if the Compliance Control option stiffness (e.g., z-direction) value is too large or the work speed is too high. (It is necessary to make adjustments according to the situation by lowering the stiffness value if the work speed is too high or by increasing the stiffness if work speed is too low.)