Mal for the path [27,28]. To carry out the experiment, the four. Experiment stand shown in Figure five was utilised. The diagram of the chosen control technique is shown in (Figure 6b). So that you can confirm the operation of the S-function, a positionA ball PSB-603 web caster (no. 1 in Figure five) is applied as a robot tool, which can be pressed against the mating surface of the workpiece. Theon the algorithm described in 700 N. The p constructed in Simulink primarily based caster can move freely below stress up to [27]. As a workpiece, two metal flat bars with a thickness of 1 mm had been used, spaced within the is to implement clamps towards the aluminum profile (no. three a direction tangent to middle and fastened withthe trajectory of motion in in Figure five). Resulting from the higher riskof damage for the manipulator when the tool hits the surface in the workpiece, the To c tory of the force in the direction regular towards the path [27,28]. Tasisulam Epigenetic Reader Domain workpiece was attached to a pneumatic table (no. two in Figure five) with an adjustable degree the stand shown in Figure 5 was employed. The diagram from of compliance. Escalating the compliance of your mating surfaces prevents the tool on the sel hitting the surface from the workpiece with excessive force. The compliance in the table-top shown in (Figure 6b). can be adjusted by changing the stress with the pneumatic cylinders that hold the table-top on each sides from the base (no. 2 in Figure 6a). It was assumed that as part of the experiment, the manipulator would make three runs along a straight line (no. 4 in Figure 6a) and press the tool against the surface of your workpiece using a continual force.Sensors 2021, 21, 7463 Sensors 2021, 21, x FOR PEER REVIEW8 of 17 8 ofFigure five. Photo with the test stand. Figure five. Photo of the test stand.A ball caster (no. 1 in Figure 5) is made use of as a robot tool, that is pressed against the four.1. Controller Configuration mating surface on the workpiece. The caster can move freely under pressure as much as 700 N. A workobject two metal within the robot controller memory, i.e., were used, spaced in the As a workpiece,was defined flat bars having a thickness of 1 mmthe user reference system xmiddle relative to which the TCP position will be determined. The tooldata variable for the yO zO , and fastened with clamps towards the aluminum profile (no. 3 in Figure five). Due was O also defined, harm to the manipulator when the tool hits TCPsurfacezof therelation to higher risk of containing information regarding the position of your (x T y T T ) in workpiece, the manipulatorwas attached to a the weight in the (no. 2 in Figure 5) with an center of your workpiece flange also as pneumatic table tool and also the place of its adjustable gravity. The EGM system was configured to run in Position Guidance mode prevents selection degree of compliance. Escalating the compliance on the mating surfaces together with the the tool to handle the TCP position (with out orientationexcessive force.flat frame of reference ytablefrom hitting the surface on the workpiece with adjust) inside the The compliance of the O zO of your user. This configuration permits the manipulatorpneumatic cylinders that hold the top rated may be adjusted by altering the stress with the to become controlled in the set plane, excluding motion controlof the base (no. 2 in Figure 6a).The robot controller calculates the table-top on both sides within the direction from the xO axis. It was assumed that as part of the solution with the inverse and straightforwardthree runs along a straight external controller Sensors 2021, 21, x FOR PEER REVIEWexperiment, the manipulator.