Jove
Visualize
Contact Us
JoVE
x logofacebook logolinkedin logoyoutube logo
ABOUT JoVE
OverviewLeadershipBlogJoVE Help Center
AUTHORS
Publishing ProcessEditorial BoardScope & PoliciesPeer ReviewFAQSubmit
LIBRARIANS
TestimonialsSubscriptionsAccessResourcesLibrary Advisory BoardFAQ
RESEARCH
JoVE JournalMethods CollectionsJoVE Encyclopedia of ExperimentsArchive
EDUCATION
JoVE CoreJoVE BusinessJoVE Science EducationJoVE Lab ManualFaculty Resource CenterFaculty Site
Terms & Conditions of Use
Privacy Policy
Policies

Related Concept Videos

Three-Dimensional Force System:Problem Solving01:30

Three-Dimensional Force System:Problem Solving

1.4K
A three-dimensional force system refers to a scenario in which three forces act simultaneously in three different directions. This type of problem is commonly encountered in physics and engineering, where it is necessary to calculate the resultant force on the system, which can then be used to predict or analyze the behavior of the object or structure under consideration.
To solve a three-dimensional force system, first resolve each force into its respective scalar components. Do this using...
1.4K
Two-Dimensional Force System: Problem Solving01:29

Two-Dimensional Force System: Problem Solving

1.4K
Solving problems related to two-dimensional force systems is an essential aspect of mechanics and engineering. By applying the principles of vector analysis and force equilibrium, one can determine the effect of multiple forces acting on an object in a two-dimensional space.
The first step to solving a two-dimensional force system problem is to draw a free-body diagram of the object under consideration. This diagram helps identify all the external forces acting on the object, including their...
1.4K
Three-Dimensional Force System01:30

Three-Dimensional Force System

3.0K
In mechanical engineering, a three-dimensional force system is a system of forces acting in three dimensions, with forces applied along the x, y, and z coordinate axes. The three-dimensional force system is an important concept in mechanical engineering, as it allows engineers to understand and analyze the behavior of objects and structures in three dimensions. By understanding the forces acting on a system, engineers can design more efficient and effective mechanical systems that can withstand...
3.0K
Work and Energy for Variable Forces01:10

Work and Energy for Variable Forces

5.9K
When an object is acted upon by a variable force, the amount of work done and the change in energy of the object can be more complex to calculate compared to when a constant force is applied. Work is the product of force and displacement, while energy is the capacity of a system to do work. When a constant force is applied to an object, the work done can be calculated as the product of the force and the distance moved in the direction of the force. However, when a variable force is applied, the...
5.9K
Feedback control systems01:26

Feedback control systems

763
Feedback control systems are categorized in various ways based on their design, analysis, and signal types.
Linear feedback systems are theoretical models that simplify analysis and design. These systems operate under the principle that their output is directly proportional to their input within certain ranges. For instance, an amplifier in a control system behaves linearly as long as the input signal remains within a specific range. However, most physical systems exhibit inherent nonlinearity...
763
Two-Dimensional Force System01:20

Two-Dimensional Force System

1.7K
A two-dimensional system in mechanical engineering involves the analysis of motion and forces in a plane. A two-dimensional force vector can be resolved into its components as:
1.7K

You might also read

Related Articles

Articles linked to this work by shared authors, journal, and citation graph.

Sort by
Same author

Precision Landing Tests of Tethered Multicopter and VTOL UAV on Moving Landing Pad on a Lake.

Sensors (Basel, Switzerland)·2023
Same author

Design and Evaluation of Low-Cost Vibration-Based Machine Monitoring System for Hay Rotary Tedder.

Sensors (Basel, Switzerland)·2022
Same author

Robotised Geometric Inspection of Thin-Walled Aerospace Casings.

Sensors (Basel, Switzerland)·2022
Same author

A Novel Hybrid NN-ABPE-Based Calibration Method for Improving Accuracy of Lateration Positioning System.

Sensors (Basel, Switzerland)·2021

Related Experiment Video

Updated: Mar 15, 2026

Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound
07:41

Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound

Published on: January 7, 2019

9.7K

Experimental Evaluation of UR5e Collaborative Robot Force Control in Low-Force Applications.

Roman Trochimczuk1, Adam Wolniakowski1, Michał Ostaszewski1

  • 1Department of Automatic Control and Robotics, Faculty of Electrical Engineering, Bialystok University of Technology, 15-351 Bialystok, Poland.

Sensors (Basel, Switzerland)
|March 14, 2026
PubMed
Summary

This study evaluated the UR5e cobot's low-force mode stability (1-10 N). Findings reveal optimal controller settings for precise force control in various workspace positions, crucial for delicate robotic applications.

Keywords:
UR5ecobotsforce/torque sensorlow-force applicationmeasurement of force

More Related Videos

Force and Position Control in Humans - The Role of Augmented Feedback
06:31

Force and Position Control in Humans - The Role of Augmented Feedback

Published on: June 19, 2016

8.3K
Author Spotlight: Enhancing Post-Stroke Upper Limb Rehabilitation with Robotic Technologies for Improved Motor Recovery and Functional Outcomes
04:49

Author Spotlight: Enhancing Post-Stroke Upper Limb Rehabilitation with Robotic Technologies for Improved Motor Recovery and Functional Outcomes

Published on: September 6, 2024

1.7K

Related Experiment Videos

Last Updated: Mar 15, 2026

Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound
07:41

Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound

Published on: January 7, 2019

9.7K
Force and Position Control in Humans - The Role of Augmented Feedback
06:31

Force and Position Control in Humans - The Role of Augmented Feedback

Published on: June 19, 2016

8.3K
Author Spotlight: Enhancing Post-Stroke Upper Limb Rehabilitation with Robotic Technologies for Improved Motor Recovery and Functional Outcomes
04:49

Author Spotlight: Enhancing Post-Stroke Upper Limb Rehabilitation with Robotic Technologies for Improved Motor Recovery and Functional Outcomes

Published on: September 6, 2024

1.7K

Area of Science:

  • Robotics
  • Control Systems Engineering
  • Experimental Mechanics

Background:

  • Collaborative robots (cobots) are increasingly used in tasks requiring precise force control.
  • The UR5e cobot's force mode stability in the low-force range (1-10 N) is critical for applications like assembly, polishing, and human-robot interaction.
  • Accurate force sensing and control are essential for safe and efficient operation of cobots in complex environments.

Purpose of the Study:

  • To experimentally assess the stability and accuracy of the UR5e cobot's force mode in the low-force range (1 N to 10 N).
  • To investigate the influence of workspace position, force level, and controller parameters on the cobot's force control performance.
  • To develop models for optimizing the low-force control of the UR5e cobot in practical applications.

Main Methods:

  • Experimental validation using a UR5e cobot equipped with an OptoForce Hex six-axis Force/Torque sensor.
  • Data acquisition using proprietary LabVIEW software and a custom-designed test station.
  • Three experimental tests varying workspace position, force setpoint, and controller parameters (Gain and Damping).

Main Results:

  • The UR5e cobot demonstrated a mean force output ranging from 8.95 N to 13.26 N when a 10 N setpoint was used.
  • Average deviation from the set force value was approximately 0.38 N, with a maximum deviation of 0.61 N at workspace limits.
  • Optimal controller settings (Gain and Damping) were identified for different force ranges (1-4 N, 5-7 N, 8-10 N).

Conclusions:

  • The UR5e cobot's force mode exhibits measurable stability and accuracy within the 1-10 N range, with performance influenced by position and controller settings.
  • Identified controller parameters provide a basis for enhancing the precision of low-force applications.
  • Developed polynomial regression models can aid in practical decision-making for deploying the UR5e cobot in low-force scenarios.