With the FORCE module, production processes for mechanical assembly can be solved intuitively and quickly using force-controlled movements of the robot.

Currently the following robot controllers are supported with the FORCE module:

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

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 regulations are, for example, moving a part to a stop. For this purpose, the control monitors the force in one direction and interrupts the control as soon as a threshold value is undercut or exceeded. More complex control is, for example, the holding of a force on a plane while the robot moves in this plane. This is used, for example, when deburring components or polishing surfaces. Intuitively parameterizable function blocks are available for use in the drag&bot FORCE module for the most diverse controls.

Force-torque sensors

Why drag&bot?

How does commissioning work?

Graphical user interface for every robot – drag&bot

  • 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.


Additional modules for each application