An analysis of critically enabling technologies for force and power limiting of industrial robotics

Date of Award


Degree Name

M.S. in Electrical Engineering


Department of Electrical and Computer Engineering


Advisor: Raúl Ordóñez


The power and force limited (PFL) industrial robot market is one that is much underdeveloped and market demand is increasing every year. A literature review of critically enabling technologies for PFL robotics is conducted to evaluate the successes and limitations of developed and emerging PFL technologies. From this analysis a one link robot testbed is developed to test and gain a deep understanding of inherent torque sensing properties. Two custom sensing configurations and two custom torque plates are also designed to evaluate key torque sensing properties. Finally, an evaluation on these results lead to conclusions of the inherent effectiveness of the selected PFL enabling technologies.


Robots Programming, Detectors, Torque Calibration, Robots, Industrial, Robotics, Torque Sensor, Harmonic Drive, Capacitive Sensor, Optical Encoder, Power and Force Limited

Rights Statement

Copyright © 2017, author