Application White Paper : Force Control Node And AutomAPPPS

Examples are valid for : 

TMflow Software version : 1.88 or above 

TM Robot Hardware version : HW3.2 

Other specific requirements : None 

Note that older or newer software versions may have different results

This application white paper introduces a method for executing common machining applications, such as deburring and polishing, by utilizing the Force Control Node within TMflow. It explains how users can apply third-party software, specifically AutomAPPPS, to simulate various processing trajectories and generate path files that the TM Robot follows to achieve precise force control without extensive integration efforts. The document categorizes different processing scenarios—such as "Tool on Hand" versus "Workpiece on Hand"—and provides comprehensive guidance on setting up Force/Torque sensors, selecting coordinate systems, performing PID tuning, and exporting paths from AutomAPPPS to TMflow for execution.

For the full technical details and step-by-step guides, please download the pdf refer to the "download this article" button.