Force-Controlled Handling Apparatus for Robot-Assisted Surface Machining

An embodiment relates to a handling apparatus with a linear actuator acting between a first flange connectable to a manipulator and a second flange to which a tool, or a machine tool with a tool, can be mounted. The linear actuator exerts a force on the second flange, or an end stop, in accordance with a control variable. The device further comprises a force sensor coupled between the second flange and the tool and configured to measure a force exerted by the handling apparatus on the tool upon contact between the tool and a surface. A control unit comprises a state observer configured to determine an estimated value for the force exerted by the handling apparatus on the tool based on the control variable. The control unit is further adapted to detect a contact between the tool and the surface, wherein the control variable is adjusted based on the estimated value and a target value as long as no contact is detected, whereas the control variable is adjusted based on the measured force and the target value as long as a contact is detected.