{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,31]],"date-time":"2026-03-31T08:06:31Z","timestamp":1774944391916,"version":"3.50.1"},"reference-count":26,"publisher":"Emerald","issue":"3","license":[{"start":{"date-parts":[[2002,9,1]],"date-time":"2002-09-01T00:00:00Z","timestamp":1030838400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2002,9,1]]},"abstract":"<jats:p>Force\/torque sensing is very important for several automatic and industrial robotic applications. Basically, if precise control of the forces that arise from contact between tools and parts is required to successfully complete the automatic task, then a force\/torque sensor is needed along with some force\/torque control technique. In this paper we focus on force\/torque sensing aspects applied to industrial robotic tasks. Concentrating on a particular type of force\/torque sensor, we demonstrate how to use them and how to integrate them into force\/torque control applications using robots. Finally, an industrial application is presented where force control was fundamental for the success of the task.<\/jats:p>","DOI":"10.1108\/02602280210433070","type":"journal-article","created":{"date-parts":[[2003,1,8]],"date-time":"2003-01-08T19:21:33Z","timestamp":1042053693000},"page":"232-241","source":"Crossref","is-referenced-by-count":36,"title":["Force\/torque sensing applied to industrial robotic deburring"],"prefix":"10.1108","volume":"22","author":[{"given":"J.","family":"Norberto Pires","sequence":"first","affiliation":[]},{"given":"John","family":"Ramming","sequence":"additional","affiliation":[]},{"given":"Stephen","family":"Rauch","sequence":"additional","affiliation":[]},{"given":"Ricardo","family":"Ara\u00fajo","sequence":"additional","affiliation":[]}],"member":"140","reference":[{"key":"key2022021820380565700_B1","doi-asserted-by":"crossref","unstructured":"Chiaverini, S. (1994), \u201cForce\/position regulation of compliant robot manipulators\u201d, IEEE Transactions on Automatic Control, Mar\u00e7o.","DOI":"10.1109\/9.280780"},{"key":"key2022021820380565700_B2","unstructured":"Craig, J.J. and Raibert, M.H. (1979), \u201cA systematic method of hybrid position\/force control of a manipulator\u201d, paper presented at the IEEE Computer Software Applications Conference, November."},{"key":"key2022021820380565700_B3","doi-asserted-by":"crossref","unstructured":"De Schutter, J. and Van Brussel, H. (1988a), \u201cCompliant robot motion I. A formalism for specifying compliant motion tasks\u201d, The International Journal of Robotics Research, August.","DOI":"10.1177\/027836498800700401"},{"key":"key2022021820380565700_B4","doi-asserted-by":"crossref","unstructured":"De Schutter, J. and Van Brussel, H. (1988b), \u201cCompliant robot motion II. A control approach based on external control loops\u201d, The International Journal of Robotics Research, August.","DOI":"10.1177\/027836498800700402"},{"key":"key2022021820380565700_B5","unstructured":"Fraden, J. (1997), Handbook of Modern Sensors, American Institute of Physics, College Park, MD."},{"key":"key2022021820380565700_B6","doi-asserted-by":"crossref","unstructured":"Galichet, S. and Foulloy, L. (1995), \u201cFuzzy controllers: synthesis and equivalences\u201d, IEEE Transactions on System, Man and Cybernetics, May.","DOI":"10.1109\/91.388169"},{"key":"key2022021820380565700_B7","doi-asserted-by":"crossref","unstructured":"Hogan, N. (1985), \u201cImpedance control: an approach to manipulation: part I \u2013 theory, part II \u2013 implementation, part III \u2013 applications\u201d, ASME Journal of Dynamic Systems, Measurement, and Control, March.","DOI":"10.1115\/1.3140713"},{"key":"key2022021820380565700_B8","unstructured":"JR3 (2001), JR3 Force\/Torque Sensor Users Manual,  JR3 Inc. Woodland, CA."},{"key":"key2022021820380565700_B9","doi-asserted-by":"crossref","unstructured":"Khatib O. (1987), \u201cA unified approach for motion and force control of robotic manipulators: the operational space formulation\u201d, IEEE Journal of Robotics and Automation, February.","DOI":"10.1109\/JRA.1987.1087068"},{"key":"key2022021820380565700_B10","unstructured":"Li, H. and Gatland, H. (1996), \u201cConventional fuzzy control and its enhancement\u201d, IEEE Transactions on System, Man and Cybernetics, October."},{"key":"key2022021820380565700_B11","doi-asserted-by":"crossref","unstructured":"MacVicar\u2010Whelan, P.J. (1976), \u201cFuzzy sets for man\u2010machine interaction\u201d, International Journal  Man\u2010Machine Studies, Vol. 8, pp. 687\u201097.","DOI":"10.1016\/S0020-7373(76)80030-2"},{"key":"key2022021820380565700_B12","unstructured":"Nasri, H. (1999), \u201cModeling and requirements of the automated deburring process\u201d, PhD thesis, Division of Robotics, Department of Mechanical Engineering, Lund University, Lund, May."},{"key":"key2022021820380565700_B13","unstructured":"Nilsson, K. (1996), \u201cIndustrial robot programming\u201d, PhD thesis, Department of Automatic Control, Lund Institute of Technology, Lund, May."},{"key":"key2022021820380565700_B14","unstructured":"Pires, J.N. (1999), \u201cForce control in industrial robotics\u201d, PhD thesis, Mechanical Engineering Department, University of Coimbra, Coimbra, June."},{"key":"key2022021820380565700_B15","unstructured":"Pires, J.N. (2000), \"Programming industrial robotic and automation equipment\u201d, Industrial Robot, An International Journal, July."},{"key":"key2022021820380565700_B16","unstructured":"Pires, J.N. (2000), \u201cUsing Matlab to interface industrial robotic and automation equipment\u201d, IEEE Robotics and Automation Magazine, September."},{"key":"key2022021820380565700_B17","unstructured":"Pires, J.N. (2001), \u201cMATJR3PCI\u201d, Users Manual of the JR3PCI Matlab Toolbox, available at: robotics. dem.uc.pt\/norberto\/jr3pci\/."},{"key":"key2022021820380565700_B18","unstructured":"Pires, J.N. and S\u00e1 da Costa, J.M.G. (1996), \u201cA real time system for position\/force control of mechanical manipulators\u201d, Proceedings of the 7th International Machine Design Conference, Ankara."},{"key":"key2022021820380565700_B19","doi-asserted-by":"crossref","unstructured":"Pires, J.N. and S\u00e1 da Costa, J.M.G. (2000), \u201cObject\u2010oriented and distributed approach for programming robotic manufacturing cells\u201d, IFAC Journal Robotics and Computer Integrated Manufacturing, Vol. 16 No. 1, March, pp. 29\u201042.","DOI":"10.1016\/S0736-5845(99)00039-3"},{"key":"key2022021820380565700_B20","doi-asserted-by":"crossref","unstructured":"Siciliano, B. (1996), \u201cParallel force\/position control of robot manipulators\u201d, Proceedings of the 7th International Symposium of Robotics Research, Springer\u2010Verlag, London, pp. 79\u201089.","DOI":"10.1007\/978-1-4471-1021-7_9"},{"key":"key2022021820380565700_B21","doi-asserted-by":"crossref","unstructured":"Siciliano, B. and Villani, L. (1999), Robot Force Control, Kluwer Academic Publishers International Series in Engineering and Computer Science, Boston, MA.","DOI":"10.1007\/978-1-4615-4431-9"},{"key":"key2022021820380565700_B22","unstructured":"Volpe, R. and Khosla, P. (1992), \u201cAn analysis of manipulator force control strategies applied to an experimentally derived model\u201d, IEEE\/RSJ International Conference on Intelligent Robots and Systems, Raleigh, July."},{"key":"key2022021820380565700_B23","doi-asserted-by":"crossref","unstructured":"Volpe, R. and Khosla, P. (1993), \"A theoretical and experimental investigation of explicit force control strategies for manipulators\u201d, IEEE Transactions on Automatic Control, November.","DOI":"10.23919\/ACC.1992.4792176"},{"key":"key2022021820380565700_B24","doi-asserted-by":"crossref","unstructured":"Volpe, R. and Khosla, P. (1994), \u201cComputational considerations in the implementation of force control strategies\u201d, Journal of Intelligent and Robotic Systems, p. 9.","DOI":"10.1007\/BF01258316"},{"key":"key2022021820380565700_B25","doi-asserted-by":"crossref","unstructured":"Volpe, R. and Khosla, P. (1995), \u201cOn the equivalence of second order impedance control and proportional gain explicit force control\u201d, The International Journal of Robotics Research, Vol. 14 No. 6.","DOI":"10.1177\/027836499501400604"},{"key":"key2022021820380565700_B26","unstructured":"Yager, R. and Filev, D. (1994), Essentials of Fuzzy Modeling and Control, John Wiley & Sons,  New York, NY."}],"container-title":["Sensor Review"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/www.emeraldinsight.com\/doi\/full-xml\/10.1108\/02602280210433070","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/02602280210433070\/full\/xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/02602280210433070\/full\/html","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,7,25]],"date-time":"2025-07-25T00:03:33Z","timestamp":1753401813000},"score":1,"resource":{"primary":{"URL":"http:\/\/www.emerald.com\/sr\/article\/22\/3\/232-241\/442882"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2002,9,1]]},"references-count":26,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2002,9,1]]}},"alternative-id":["10.1108\/02602280210433070"],"URL":"https:\/\/doi.org\/10.1108\/02602280210433070","relation":{},"ISSN":["0260-2288"],"issn-type":[{"value":"0260-2288","type":"print"}],"subject":[],"published":{"date-parts":[[2002,9,1]]}}}