KUKA (FM)
KUKA (FM) refers to a specific KUKA robot functionality, namely the external force/moment (FM) control. This functionality allows the robot to actively respond to external forces and moments applied to its end-effector. Instead of rigidly following a pre-programmed trajectory, the robot adjusts its position or force application based on real-time feedback from a force/torque sensor.
KUKA FM control is primarily utilized in applications requiring sensitive interaction with the environment. These applications often necessitate precision and compliance where maintaining specific contact forces or reacting to unexpected obstructions is crucial.
Key aspects of KUKA FM control include:
- Force/Torque Sensor: A sensor, typically mounted on the robot's wrist, measures forces and torques acting on the end-effector in three translational axes (Fx, Fy, Fz) and three rotational axes (Mx, My, Mz).
- Control Algorithm: An internal control algorithm, often based on proportional-integral-derivative (PID) control or more advanced techniques, processes the sensor data and calculates necessary corrections to the robot's motion.
- Parameter Tuning: Proper tuning of the control parameters is essential for achieving stable and accurate force control. Parameters such as stiffness, damping, and gain determine the robot's responsiveness and ability to maintain desired force levels without oscillation.
- Application Examples: Common applications of KUKA FM control include grinding, polishing, deburring, assembly of delicate parts, and haptic feedback in virtual reality systems.
The KUKA FM package is a software option within the KUKA robot controller that unlocks this functionality. It provides the tools and interfaces necessary to configure and implement force/moment control in robot programs. Using the package requires careful calibration of the force/torque sensor and a thorough understanding of the underlying control principles to ensure safe and effective operation. Incorrect configuration or misuse can lead to instability, damage to the robot or workpiece, or even hazardous situations.