With the FORCE module, production processes for mechanical assembly can be solved intuitively and quickly with the help of force-controlled movements of the robot. For this purpose, a force-torque sensor is mounted on the flange of the robot or an integrated force sensor is used in the robot. This sensor continuously records the forces and additionally the accelerations in all three dimensions. The drag&bot FORCE module processes the sensor values in a control loop and, depending on the result of the control algorithm, sends the new incremental position to the controller in an interpolation cycle. Cycle times from 50 Hz are necessary for fast and reliable control.
Simple controls are, for example, the movement of a part to the stop. For this purpose, the control monitors the force in one direction and aborts the control as soon as a certain value falls below or exceeds a limit value. More complex control is, for example, holding a force on one level while the robot is moving in this level. This is used, for example, when deburring components or polishing surfaces. Function blocks in the drag&bot FORCE module are available for intuitive parameterization for a wide variety of control applications.

The following robot controllers are currently supported by the FORCE module:

  • KUKA KR C4
  • KUKA iiwa: no FORCE module necessary, drag&bot BASIC is sufficient
  • Universal Robots (with force sensor for UR3, UR5 and UR10 – for e-Series without force sensor possible)

Why drag&bot?

How does the deployment work?

drag&bot CORE

  • COMPONENT MANAGER – Here the user configures the connected hardware. The installation of the corresponding drivers takes place automatically in the background.

  • BUILDER – Applications can be created from predefined function blocks using drag and drop.

  • WIZARDS – Graphical operating and input aids: Users can adapt function blocks to the specific requirements of their application without expert knowledge.

  • RUN VIEW – The created applications are executed here. With one click you return to the Builder and can extend and optimize the application.

drag&bot CORE

Additional modules for each application


We show you how easy robot programming can be

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